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Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous…
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vision-based, model-free microrobotic pushing algorithm for…
We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the…
The paradigm of robot-assisted surgery is shifting toward data-driven autonomy, where policies learned via Reinforcement Learning (RL) or Imitation Learning (IL) enable the execution of complex tasks. However, these ``black-box" policies…
Recent advances in large foundation models, such as the Segment Anything Model (SAM), have demonstrated considerable promise across various tasks. Despite their progress, these models still encounter challenges in specialized medical image…
Decoding fine-grained movement from non-invasive surface Electromyography (sEMG) is a challenge for prosthetic control due to signal non-stationarity and low signal-to-noise ratios. Generic self-supervised learning (SSL) frameworks often…
There is growing interest in automating surgical tasks using robotic systems, such as endoscopy for treating gastrointestinal (GI) cancer. However, previous studies have primarily focused on detecting and analyzing objects or robots, with…
In traumatic medical emergencies, the patients heavily depend on cranioplasty - the craft of neurocranial repair using cranial implants. Despite the improvements made in recent years, the design of a patient-specific implant (PSI) is among…
Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore the challenges of deformable object manipulation through the…
Neuroendovascular access often relies on passive microwires that are hand-shaped at the back table and then used to track a microcatheter to the target. Neuroendovascular surgeons determine the shape of the wire by examining the patient…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
Spinal cord functional MRI studies require precise localization of spinal levels for reliable voxelwise group analyses. Traditional template-based registration of the spinal cord uses intervertebral discs for alignment. However, substantial…
Predicting cardiac indices has long been a focal point in the medical imaging community. While various deep learning models have demonstrated success in quantifying cardiac indices, they remain susceptible to mild input perturbations, e.g.,…
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…
In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
Disentangled representation is a powerful technique to tackle domain shift problem in medical image analysis in unsupervised domain adaptation setting.However, previous methods only focus on exacting domain-invariant feature and ignore…