Related papers: Tendon-Actuated Concentric Tube Endonasal Robot (T…
This paper presents a novel Embroidery Actuator, a fabric-integrated pneumatic actuator that enables diverse and controllable deformations through embroidery pattern design. Unlike conventional fabric actuators that rely on fiber- or…
High-dimensional data, particularly in the form of high-order tensors, presents a major challenge in self-supervised learning. While MLP-based autoencoders (AE) are commonly employed, their dependence on flattening operations exacerbates…
Otologic surgery has some specificities compared to others surgeries. The anatomic working space is small, with various anatomical structures to preserve, like ossicles or facial nerve. This requires the use of microscope or endoscope. The…
Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation method is highly advantageous in medical applications, the…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Neuroendovascular access often relies on passive microwires that are hand-shaped at the back table and then used to track a microcatheter to the target. Neuroendovascular surgeons determine the shape of the wire by examining the patient…
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…
When humans perform complex insertion tasks such as pushing a cup into a cupboard, routing a cable, or putting a key in a lock, they wiggle the object and adapt the process through tactile feedback. A similar robotic approach has not been…
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…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Tendon-driven robotic hands offer unparalleled dexterity for manipulation tasks, but learning control policies for such systems presents unique challenges. Unlike joint-actuated robotic hands, tendon-driven systems lack a direct one-to-one…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners,…
OBJECTIVE: The TER system is a robot-based tele-echography system allowing remote ultrasound examination. The specialist moves a mock-up of the ultrasound probe at the master site, and the robot reproduces the movements of the real probe,…
Flexible endoscopy requires high skills to manipulate both the endoscope and associated instruments. In most robotic flexible endoscopic systems, the endoscope and instruments are controlled separately by two operators, which may result in…
Temporal action detection (TAD) aims to determine the semantic label and the temporal interval of every action instance in an untrimmed video. It is a fundamental and challenging task in video understanding. Previous methods tackle this…
We introduce a speech-guided embodied agent framework for video-guided skull base surgery that dynamically executes perception and image-guidance tasks in response to surgeon queries. The proposed system integrates natural language…
Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Purpose: Transcatheter edge-to-edge repair (TEER) and annuloplasty devices are increasingly used to treat mitral valve regurgitation, yet their mechanical effects and interactions remain poorly understood. This study aimed to establish an…