Related papers: Autonomous Catheterization with Open-source Simula…
Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…
Robotic-assisted percutaneous coronary intervention (PCI) holds considerable promise for elevating precision and safety in cardiovascular procedures. Nevertheless, current systems heavily depend on human operators, resulting in variability…
For decades, three-dimensional C-arm Cone-Beam Computed Tomography (CBCT) imaging system has been a critical component for complex vascular and nonvascular interventional procedures. While it can significantly improve multiplanar soft…
Conducting real road testing for autonomous driving algorithms can be expensive and sometimes impractical, particularly for small startups and research institutes. Thus, simulation becomes an important method for evaluating these…
Endovascular procedures have revolutionized vascular disease treatment, yet their manual execution is challenged by the demands for high precision, operator fatigue, and radiation exposure. Robotic systems have emerged as transformative…
Endovascular guidewire manipulation is essential for minimally-invasive clinical applications (Percutaneous Coronary Intervention (PCI), Mechanical thrombectomy techniques for acute ischemic stroke (AIS), or Transjugular intrahepatic…
Purpose: Central venous catheterization (CVC) is a critical medical procedure for vascular access, hemodynamic monitoring, and life-saving interventions. Its success remains challenging due to the need for continuous ultrasound-guided…
Robots are becoming an essential part of many operations including marine exploration or environmental monitoring. However, the underwater environment presents many challenges, including high pressure, limited visibility, and harsh…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
Benchmarking vision-based driving policies is challenging. On one hand, open-loop evaluation with real data is easy, but these results do not reflect closed-loop performance. On the other, closed-loop evaluation is possible in simulation,…
In minimally invasive endovascular procedures, contrast-enhanced angiography remains the most robust imaging technique. However, it is at the expense of the patient and clinician's health due to prolonged radiation exposure. As an…
With deep learning and computer vision technology development, autonomous driving provides new solutions to improve traffic safety and efficiency. The importance of building high-quality datasets is self-evident, especially with the rise of…
Purpose: Autonomous navigation of catheters and guidewires can enhance endovascular surgery safety and efficacy, reducing procedure times and operator radiation exposure. Integrating tele-operated robotics could widen access to…
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available. We describe here the development of an active and…
Robot-assisted surgical systems have demonstrated significant potential in enhancing surgical precision and minimizing human errors. However, existing systems cannot accommodate individual surgeons' unique preferences and requirements.…
Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by…
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to…