Related papers: SIMS: Surgeon-Intention-driven Motion Scaling for …
Vision-based imitation learning has enabled impressive robotic manipulation skills, but its reliance on object appearance while ignoring the underlying 3D scene structure leads to low training efficiency and poor generalization. To address…
The functional independence measure (FIM) is widely used to evaluate patients' physical independence in activities of daily living. However, traditional FIM assessment imposes a significant burden on both patients and healthcare…
The integration of electromagnetic metasurfaces into wireless communications enables intelligent control of the propagation environment. Recently, flexible intelligent metasurfaces (FIMs) have evolved beyond conventional reconfigurable…
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…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Intelligent metasurfaces have demonstrated great promise in revolutionizing wireless communications. One notable example is the two-dimensional (2D) programmable metasurface, which is also known as reconfigurable intelligent surfaces (RIS)…
The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery (RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian modeling theory suggests that surgeons with experience in open or laparoscopic surgery…
Stacked intelligent metasurfaces (SIMs) have emerged as a powerful paradigm for wave-domain signal processing, enabling fine-grained control over electromagnetic (EM) propagation in next-generation wireless systems. However, conventional…
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…
We investigate grasping of rigid objects in unilateral robot-assisted minimally invasive surgery (RAMIS) in this paper. We define a human-centered transparency that quantifies natural action and perception in RAMIS. We demonstrate this…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
The main purpose of this research is to move the robotic arm (5DoF) in real-time, based on the surface Electromyography (sEMG) signals, as obtained from the wireless Myo gesture armband to distinguish seven hand movements. The sEMG signals…
Stacked intelligent metasurface (SIM) is an emerging technology that uses multiple reconfigurable surface layers to enable flexible wave-based beamforming. In this paper, we focus on an \ac{SIM}-assisted multi-user multiple-input…
A novel technology based on stacked intelligent metasurfaces (SIM) has recently emerged. This platform involves cascading multiple metasurfaces, each acting as a digitally programmable physical layer within a diffractive neural network. SIM…
We propose a new benchmark for evaluating stereoscopic visual-inertial computer vision algorithms (SLAM/ SfM/ 3D Reconstruction/ Visual-Inertial Odometry) for minimally invasive surgical (MIS) interventions in the abdomen. Our MITI Dataset…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…
Typical reconfigurable intelligent surface (RIS) implementations include metasurfaces with almost passive unit elements capable of reflecting their incident waves in controllable ways, enhancing wireless communications in a cost-effective…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
As a technique to alleviate the pressure of data annotation, semi-supervised learning (SSL) has attracted widespread attention. In the specific domain of medical image segmentation, semi-supervised methods (SSMIS) have become a research…