Related papers: A Hybrid-Layered System for Image-Guided Navigatio…
Augmented Reality (AR) surgical navigation systems are emerging as the next generation of intraoperative surgical guidance, promising to overcome limitations of traditional navigation systems. However, known issues with AR depth perception…
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the…
The visual functions of visual prostheses such as field of view, resolution and dynamic range, seriously restrict the person's ability to navigate in unknown environments. Implanted patients still require constant assistance for navigating…
Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
There has been a significant increase from 2010 to 2016 in the number of people suffering from spine problems. The automatic image segmentation of the spine obtained from a computed tomography (CT) image is important for diagnosing spine…
Holistic surgical scene segmentation in robot-assisted surgery (RAS) enables surgical residents to identify various anatomical tissues, articulated tools, and critical structures, such as veins and vessels. Given the firm intraoperative…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
Human-robot cooperative navigation is challenging under incomplete information. We introduce CoNav-Maze, a simulated environment where a robot navigates with local perception while a human operator provides guidance based on an inaccurate…
Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance while the semantic segmentation of the robotic instrument…
Accurate medical image segmentation is essential for diagnosis, surgical planning and many other applications. Convolutional Neural Networks (CNNs) have become the state-of-the-art automatic segmentation methods. However, fully automatic…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
Image guidance has been widely used in radiation therapy. Correctly identifying the bounding box of the anatomical landmarks from limited field of views is the key to success. In image-guided radiation therapy (IGRT), the detection of those…
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…
Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…