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Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…

Accurate detection of thyroid lesions is a critical aspect of computer-aided diagnosis. However, most existing detection methods perform only one feature extraction process and then fuse multi-scale features, which can be affected by noise…

Quantification of real-time informal feedback delivered by an experienced surgeon to a trainee during surgery is important for skill improvements in surgical training. Such feedback in the live operating room is inherently multimodal,…

Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…

Focusing light through turbid media presents a highly fascinating challenge in modern biophotonics. The unique capability of optoacoustics for high resolution imaging of light absorption contrast in deep tissues can provide a natural and…

Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…

Robotic manipulation tasks involving cutting deformable objects remain challenging due to complex topological behaviors, difficulties in perceiving dense object states, and the lack of efficient evaluation methods for cutting outcomes. In…

The mechanism by which cells measure the dimension of the organ in which they are embedded, and slow down their growth when the final size is reached, is a long-standing problem of developmental biology. The role of mechanics in this…

Autonomous optimization refers to the design of feedback controllers that steer a physical system to a steady state that solves a predefined, possibly constrained, optimization problem. As such, no exogenous control inputs such as setpoints…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

Current technologies have enabled us to track and quantify our physical state and behavior. Self-tracking aims to achieve increased awareness to decrease undesired behaviors and lead to a healthier lifestyle. However, inappropriately…

We introduce a new convolutional AutoEncoder architecture for user modelling and recommendation tasks with several improvements over the state of the art. Firstly, our model has the flexibility to learn a set of associations and…

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,…

Makeup plays a vital role in self-expression, identity, and confidence - yet remains an underexplored domain for assistive technology, especially for people with vision impairments. While existing tools support isolated tasks such as color…

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…

The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…

Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…

Interactive segmentation uses real-time user inputs, such as mouse clicks, to iteratively refine model predictions. Although not originally designed to address distribution shifts, this paradigm naturally lends itself to such challenges. In…

Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…

Embedded systems are becoming more in demand to work in dynamic and uncertain environments, and being confined to the strong requirements of real-time. Conventional static scheduling models usually cannot cope with runtime modification in…