Related papers: Collaborative Human-Robot Surgery for Mandibular A…
The growing popularity of robotic minimally invasive surgeries has made deep learning-based surgical training a key area of research. A thorough understanding of the surgical scene components is crucial, which semantic segmentation models…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
Incorporating temporal information effectively is important for accurate 3D human motion estimation and generation which have wide applications from human-computer interaction to AR/VR. In this paper, we present MoManifold, a novel human…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
In this paper we describe a multiscreen-oriented approach for segmenting web pages. The segmentation is an automatic and hybrid visual and structural method. It aims at creating coherent blocks which have different functions determined by…
Most robot manipulation focuses on changing the kinematic state of objects: picking, placing, opening, or rotating them. However, a wide range of real-world manipulation tasks involve a different class of object state change--such as…
This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
Laparoscopic Surgery (LS) is a modern surgical technique whereby the surgery is performed through an incision with tools and camera as opposed to conventional open surgery. This promises minimal recovery times and less hemorrhaging. Multi…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
Surgical resection is a common procedure in the treatment of pediatric posterior fossa tumors. However, surgical damage is often unavoidable and its association with postoperative complications is not well understood. A reliable…
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
We present RASO, a foundation model designed to Recognize Any Surgical Object, offering robust open-set recognition capabilities across a broad range of surgical procedures and object classes, in both surgical images and videos. RASO…
Co-part segmentation is an important problem in computer vision for its rich applications. We propose an unsupervised learning approach for co-part segmentation from images. For the training stage, we leverage motion information embedded in…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…