Related papers: Learning-Based Modeling of a Magnetically Steerabl…
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots,…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
The problem of sparse multichannel blind deconvolution (S-MBD) arises frequently in many engineering applications such as radar/sonar/ultrasound imaging. To reduce its computational and implementation cost, we propose a compression method…
Four-dimensional Scanning Transmission Electron Microscopy (4D-STEM) is a powerful technique for high-resolution and high-precision materials characterization at multiple length scales, including the characterization of beam-sensitive…
This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radiotherapy. We employ two RGB-D sensors in a sensor fusion…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
In this study, we present a method to create a robust inverse surrogate model for a soft X-ray spectrometer. During a beamtime at an electron storage ring, such as BESSY II, instrumentation and beamlines are required to be correctly aligned…
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…
Monitoring diseases that affect the brain's structural integrity requires automated analysis of magnetic resonance (MR) images, e.g., for the evaluation of volumetric changes. However, many of the evaluation tools are optimized for…
Magnetic resonance elastography is a motion-sensitive image modality that allows to measure in vivo tissue displacement fields in response to mechanical excitations. This paper investigates a data assimilation approach for reconstructing…
Dynamic Magnetic Resonance Imaging (MRI) is a crucial non-invasive method used to capture the movement of internal organs and tissues, making it a key tool for medical diagnosis. However, dynamic MRI faces a major challenge: long…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TMS), a widely used non-invasive brain…
Dynamic MRI may capture temporal anatomical changes in soft tissue organs with high contrast but the obtained sequences usually suffer from limited volume coverage which makes the high resolution reconstruction of organ shape trajectories a…
The accuracy and fidelity of deformation simulations are highly dependent upon the underlying constitutive material model. Commonly used linear or nonlinear constitutive material models only cover a tiny part of possible material behavior.…
Purpose: To enable rigid-body motion tolerant parallel volumetric magnetic resonance imaging by retrospective head motion correction on a variety of spatio-temporal scales and imaging sequences. Theory and methods: Tolerance against…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
Head and neck squamous cell carcinoma (HNSCC) has one of the highest rates of recurrence cases among solid malignancies. Recurrence rates can be reduced by improving positive margins localization. Frozen section analysis (FSA) of resected…
One-shot medical image segmentation (MIS) is crucial for medical analysis due to the burden of medical experts on manual annotation. The recent emergence of the segment anything model (SAM) has demonstrated remarkable adaptation in MIS but…
This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by…