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Purpose: Trans-oral robotic surgery (TORS) using the da Vinci surgical robot is a new minimally-invasive surgery method to treat oropharyngeal tumors, but it is a challenging operation. Augmented reality (AR) based on intra-operative…
In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…
Intracranial aneurysms are a major cause of morbidity and mortality worldwide, and detecting them manually is a complex, time-consuming task. Albeit automated solutions are desirable, the limited availability of training data makes it…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
Autonomous surgical robots have demonstrated significant potential to standardize surgical outcomes, driving innovations that enhance safety and consistency regardless of individual surgeon experience. Deep anterior lamellar keratoplasty…
Robotic cochlear-implant (CI) insertion requires precise prediction and regulation of contact forces to minimize intracochlear trauma and prevent failure modes such as locking and buckling. Aligned with the integration of advanced medical…
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
This chapter: o Motivates the clinical use of robotic tele-echography o Introduces the TER system o Describes technical and clinical evaluations performed with TER
Percutaneous dilatational tracheostomy (PDT) is frequently performed on patients in intensive care units for prolonged mechanical ventilation. The needle puncture, as the most critical step of PDT, could lead to adverse consequences such as…
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor control. This study demonstrates the next generation,…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
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…
Magnetically actuated capsule robots promise minimally invasive diagnosis and therapy in the gastrointestinal (GI) tract, but existing systems largely neglect control of capsule pitch, a degree of freedom critical for contact-rich…
At a time when drones are increasingly associated with hostile operations, we re-purpose them for humanitarian and life-saving applications. However, adapting search and rescue drones for battlefield triage remains extremely challenging;…
Collaboration between humans and robots is becoming increasingly crucial in our daily life. In order to accomplish efficient cooperation, trust recognition is vital, empowering robots to predict human behaviors and make trust-aware…
For an autonomous robotic system, monitoring surgeon actions and assisting the main surgeon during a procedure can be very challenging. The challenges come from the peculiar structure of the surgical scene, the greater similarity in…
Natural control of limb motion is continuous and progressively adaptive to individual intent. While intuitive interfaces have the potential to rely on the neuromuscular input by the user for continuous adaptation, continuous volitional…