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In quantum mechanics, entanglement and correlations are not just a mere sporadic curiosity, but rather common phenomena at the basis of an interacting quantum system. In electron microscopy, such concepts have not been extensively explored…
Reconstructing deformable tissues from endoscopic stereo videos in robotic surgery is crucial for various clinical applications. However, existing methods relying only on implicit representations are computationally expensive and require…
In this work, we develop an open-source surgical simulation environment that includes a realistic model obtained by MRI-scanning a physical phantom, for the purpose of training and evaluating a Learning from Demonstration (LfD) algorithm…
A holographic microscope captures interference patterns, or holograms, that encode three-dimensional (3D) information about the object being viewed. Computation is essential to extracting that 3D information. By wrapping low-level…
Traditional methods for visualizing dynamic human expressions, particularly in medical training, often rely on flat-screen displays or static mannequins, which have proven inefficient for realistic simulation. In response, we propose a…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
Background and Purpose: Percutaneous renal access in the context of percutaneous nephrolithotomy (PCNL) is a difficult technique, requiring rapid and precise access to a particular calix. We present a computerized system designed to improve…
Direct ptychography enables the retrieval of information encoded in the phase of an electron wave passing through a thin sample by deconvolving the interference effects of a converged probe with known aberrations. Under the weak phase…
Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force…
We introduce a Monte-Carlo algorithm for the simulation of charged particles moving in the continuum. Electrostatic interactions are not instantaneous as in conventional approaches, but are mediated by a constrained, diffusing electric…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
A simulation of an atomic force microscope operating in the constant amplitude dynamic mode is described. The implementation mimics the electronics of a real setup including a digital phase-locked loop (PLL). The PLL is not only used as a…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Whole-body PET/CT is a cornerstone of oncological imaging, yet accurate lesion segmentation remains challenging due to tracer heterogeneity, physiological uptake, and multi-center variability. While fully automated methods have advanced…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Purpose: 4D CBCT is a beneficial tool for the treatment of movable tumors, because it can help us to understand where the tumors are actually located and have a precise treatment plan. However, there is a limitation that general CBCT images…
Formalizing surgical activities as triplets of the used instruments, actions performed, and target anatomies is becoming a gold standard approach for surgical activity modeling. The benefit is that this formalization helps to obtain a more…
Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…