Related papers: Constrained Motion Planning for a Robotic Endoscop…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical outcomes. However, existing methods primarily focus on…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
Precisely locating and segmenting medical instruments in images of minimally invasive surgeries, medical instrument segmentation, is an essential first step for several tasks in medical image processing. However, image degradations, small…
Autonomous laparoscopic camera control must maintain a stable and safe surgical view under rapid tool-tissue interactions while remaining interpretable to surgeons. We present a strategy-grounded framework that couples high-level…
In Robot-Assisted Minimally Invasive Surgery (RAMIS), a camera assistant is normally required to control the position and zooming ratio of the laparoscope, following the surgeon's instructions. However, moving the laparoscope frequently may…
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Accurate segmentation of thin structures is critical for microsurgical scene understanding but remains challenging due to resolution loss, low contrast, and class imbalance. We propose Microsurgery Instrument Segmentation for Robotic…
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
Algorithm unrolling methods have proven powerful for solving the regularized least squares problem in computational magnetic resonance imaging (MRI). These approaches unfold an iterative algorithm with a fixed number of iterations,…
This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…
Efficient path following for mobile manipulators is often hindered by high-dimensional configuration spaces and kinematic constraints. This paper presents a robust two-stage configuration planning framework that decouples the 8-DoF planning…
To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…