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Endovascular treatment of cerebral aneurysms aims to achieve functional occlusion and isolation of the aneurysm sac from bloodflow. In clinical practice, treatment success is assessed primarily through digital subtraction angiography (DSA),…
Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the…
Accurate real-time catheter segmentation is an important pre-requisite for robot-assisted endovascular intervention. Most of the existing learning-based methods for catheter segmentation and tracking are only trained on small-scale datasets…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However, existing editable scene simulation approaches face limitations in terms of user interaction…
In recent years, the rapid development of Large Language Models (LLMs) has significantly enhanced natural language understanding and human-computer interaction, creating new opportunities in the field of robotics. However, the integration…
Surgical robot automation has attracted increasing research interest over the past decade, expecting its potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied intelligence has demonstrated promising…
Blood vessel segmentation is a core task in medical image analysis for the care of vascular diseases and surgical planning, yet the challenges of providing expert vascular annotations pose a major obstacle for the progress of related deep…
Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…
For a mobile robot to be truly autonomous, it must solve the simultaneous localization and mapping (SLAM) problem. We develop a new metaheuristic algorithm called Simulated Tom Thumb (STT), based on the detailed adventure of the clever Tom…
The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specifically for port and inland waterway transport. These systems can improve operational efficiency and safety, which is especially…
Realistic real-time surgical simulators play an increasingly important role in surgical robotics research, such as surgical robot learning and automation, and surgical skills assessment. Although there are a number of existing surgical…
Advanced resuscitative technologies, such as Extra Corporeal Membrane Oxygenation (ECMO) cannulation or Resuscitative Endovascular Balloon Occlusion of the Aorta (REBOA), are technically difficult even for skilled medical personnel. This…
Enodvascular coils treat intracranial aneurysms (IAs) by causing them to occlude by thrombosis. Ideally, coiled IAs eventually occlude in the long-term. However, 20.8% are found incompletely occluded at treatment follow-up. Computer…
Labelling data is expensive and time consuming especially for domains such as medical imaging that contain volumetric imaging data and require expert knowledge. Exploiting a larger pool of labeled data available across multiple centers,…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
This paper describes our recent effort to use virtual reality to simulate threatening emergency evacuation scenarios in which a robot guides a person to an exit. Our prior work has demonstrated that people will follow a robot's guidance,…
Robot-assisted catheterization has garnered a good attention for its potentials in treating cardiovascular diseases. However, advancing surgeon-robot collaboration still requires further research, particularly on task-specific automation.…
Extracellular matrix (ECM) remodeling is central to a wide variety of healthy and diseased tissue processes. Unfortunately, predicting ECM remodeling under various chemical and mechanical conditions has proven to be excessively challenging,…
As self-driving systems become better, simulating scenarios where the autonomy stack may fail becomes more important. Traditionally, those scenarios are generated for a few scenes with respect to the planning module that takes ground-truth…