Related papers: A Hybrid-Layered System for Image-Guided Navigatio…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Foundation models (FMs) have demonstrated strong performance across diverse pathology tasks. While there are similarities in the pre-training objectives of FMs, there is still limited understanding of their complementarity, redundancy in…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with…
Medical ultrasound has been widely used to examine vascular structure in modern clinical practice. However, traditional ultrasound examination often faces challenges related to inter- and intra-operator variation. The robotic ultrasound…
Objective: Surgical activity recognition is a fundamental step in computer-assisted interventions. This paper reviews the state-of-the-art in methods for automatic recognition of fine-grained gestures in robotic surgery focusing on recent…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
Implicit representations have been widely applied in robotics for obstacle avoidance and path planning. In this paper, we explore the problem of constructing an implicit distance representation from a single image. Past methods for implicit…
Reconstructing complete and interactive 3D scenes remains a fundamental challenge in computer vision and robotics, particularly due to persistent object occlusions and limited sensor coverage. Multiview observations from a single scene scan…
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography (iOCT)- a depth sensor widely used in retinal surgery.…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
In this paper, we introduce a novel image-goal navigation approach, named RFSG. Our focus lies in leveraging the fine-grained connections between goals, observations, and the environment within limited image data, all the while keeping the…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
Computer-aided surgery intensively uses the concept of navigation: after having collected CT data from a patient and transferred them to the operating room coordinate system, the surgical instrument (a puncture needle for instance) is…
This paper presents a system-level engineering approach for the preliminary coverage performance analysis and the design of a generic Global Navigation Satellite System (GNSS) constellation. This analysis accounts for both the coverage…
Reconfigurable intelligent surfaces, with their large number of antennas, offer an interesting opportunity for high spatial-resolution imaging. In this paper, we propose a novel RIS-aided integrated imaging and communication system that can…
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…