Related papers: ORBIT-Surgical: An Open-Simulation Framework for L…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
As surgical robots become more common, automating away some of the burden of complex direct human operation becomes ever more feasible. Model-free reinforcement learning (RL) is a promising direction toward generalizable automated surgical…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
BACKGROUND: Augmented reality (AR) is gaining popularity in varying field such as computer gaming and medical education fields. However, still few of applications in real surgeries. Orthopedic surgical applications are currently limited and…
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
There is a strong demand for virtual reality (VR) to bring quality healthcare to underserved populations. This paper addresses this need with the design and prototype of SURVIVRS: Surround Video-Based Virtual Reality for Surgery Guidance.…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
Automatic recognition of surgical activities in the operating room (OR) is a key technology for creating next generation intelligent surgical devices and workflow monitoring/support systems. Such systems can potentially enhance efficiency…
A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…
Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
Accurate simulation of brain deformation is a key component for developing realistic, interactive neurosurgical simulators, as complex nonlinear deformations must be captured to ensure realistic tool-tissue interactions. However,…
Stroke patients often experience upper limb impairments that restrict their mobility and daily activities. Physical therapy (PT) is the most effective method to improve impairments, but low patient adherence and participation in PT…
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.…
Open procedures represent the dominant form of surgery worldwide. Artificial intelligence (AI) has the potential to optimize surgical practice and improve patient outcomes, but efforts have focused primarily on minimally invasive…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersive 3D interaction and high-fidelity haptics. Here, we…
Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…
Recent advances in foundation models have shown promising results in developing generalist robotics that can perform diverse tasks in open-ended scenarios given multimodal inputs. However, current work has been mainly focused on indoor,…