Related papers: Open-Source Multi-Viewpoint Surgical Telerobotics
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
To address the lack of access to ultrasound in remote communities, previous work introduced human teleoperation, a mixed reality and haptics-based tele-ultrasound system. In this approach, a novice takes the role of a cognitive robot…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Open procedures represent the dominant form of surgery worldwide. Artificial intelligence (AI) has the potential to optimize surgical practice and improve patient outcomes, but efforts have focused primarily on minimally invasive…
In contemporary pathology, multiplexed immunofluorescence (mIF) and multiplex immunohistochemistry (mIHC) present both significant opportunities and challenges. These methodologies shed light on intricate tumor microenvironment…
This paper evaluates single-view mesh reconstruction models for their potential in enabling instant digital twin creation for real-time planning and dynamics prediction using physics simulators for robotic manipulation. Recent single-view…
Multi-view capture systems are complex systems to engineer. They require technical knowledge to install and intricate processes to setup related mainly to the sensors' spatial alignment (i.e. external calibration). However, with the ongoing…
Mixed Reality (MR) and Virtual Reality (VR) simulations are hampered by requirements for hand controllers or attempts to perseverate in use of two-dimensional computer interface paradigms from the 1980s. From our efforts to produce more…
Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing path planning methods for auxiliary cameras track…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…
In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
The surgical usage of Mixed Reality (MR) has received growing attention in areas such as surgical navigation systems, skill assessment, and robot-assisted surgeries. For such applications, pose estimation for hand and surgical instruments…
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to…
One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigation to provide rich…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…