Related papers: A Hybrid-Layered System for Image-Guided Navigatio…
Autonomous navigation of mobile robots is an essential task for various industries. Sensor data is crucial to ensure safe and reliable navigation. However, sensor observations are often limited by different factors. Imagination can assist…
Visual perception plays a pivotal role in enabling autonomous behavior, offering a cost-effective and efficient alternative to complex multi-sensor systems. However, robust segmentation remains a challenge in complex scenarios. To address…
Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene representation for robotics, as it has the ability to represent…
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…
We introduce MIPS-Fusion, a robust and scalable online RGB-D reconstruction method based on a novel neural implicit representation -- multi-implicit-submap. Different from existing neural RGB-D reconstruction methods lacking either…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
BACKGROUND AND OBJECTIVE: The research done in the field of Augmented Reality (AR) for patient positioning in radiation therapy is scarce. We propose an efficient and cost-effective algorithm for tracking the scene and the patient to…
Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid…
We consider Robot-assisted Search $\&$ Rescue operations enhanced with some fixed image sensor nodes capable of capturing and sending visual information to a robot sink. In order to increase the performance of image transfer from image…
This paper introduces DogSurf - a newapproach of using quadruped robots to help visually impaired people navigate in real world. The presented method allows the quadruped robot to detect slippery surfaces, and to use audio and haptic…
Augmented reality (AR) devices with head mounted displays (HMDs) facilitate the direct superimposition of 3D preoperative imaging data onto the patient during surgery. To use an HMD-AR device as a stand-alone surgical navigation system, the…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
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…