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In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
Modeling the behavior of coupled networks is challenging due to their intricate dynamics. For example in neuroscience, it is of critical importance to understand the relationship between the functional neural processes and anatomical…
Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label…
Parameter estimation in structural dynamics generally involves inferring the values of physical, geometric, or even customized parameters based on first principles or expert knowledge, which is challenging for complex structural systems. In…
For robot-assisted surgery, an accurate surgical report reflects clinical operations during surgery and helps document entry tasks, post-operative analysis and follow-up treatment. It is a challenging task due to many complex and diverse…
Parameter values for seismic processing steps are often chosen on a regular grid of samples and interpolated. Active learning instead attempts to optimally select the samples on which parameter values are chosen. For parameters that do not…
In material characterization, identifying defective areas on a material surface is fundamental. The conventional approach involves measuring the relevant physical properties point-by-point at the predetermined mesh grid points on the…
Medical image segmentation is vital for clinical diagnosis, yet current deep learning methods often demand extensive expert effort, i.e., either through annotating large training datasets or providing prompts at inference time for each new…
Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are expected to adapt their assistive configurations based on…
Accurate 3D reconstruction of deformable soft tissues is essential for surgical robotic perception. However, low-texture surfaces, specular highlights, and instrument occlusions often fragment geometric continuity, posing a challenge for…
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we…
Machine learning at the edge offers great benefits such as increased privacy and security, low latency, and more autonomy. However, a major challenge is that many devices, in particular edge devices, have very limited memory, weak…
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in…
Fluid interactions permeate daily human activities, with properties like density and viscosity playing pivotal roles in household tasks. While density estimation is straightforward through Archimedes' principle, viscosity poses a more…
Radiologists use various imaging modalities to aid in different tasks like diagnosis of disease, lesion visualization, surgical planning and prognostic evaluation. Most of these tasks rely on the the accurate delineation of the anatomical…
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform…
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks treat contact as unsafe, restricting…
Deformable medical image registration is a fundamental task in medical image analysis with applications in disease diagnosis, treatment planning, and image-guided interventions. Despite significant advances in deep learning based…