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Chronic wounds, including diabetic ulcers, pressure ulcers, and ulcers secondary to venous hypertension, affects more than 6.5 million patients and a yearly cost of more than $25 billion in the United States alone. Chronic wound treatment…
Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
Defective surgical instruments pose serious risks to sterility, mechanical integrity, and patient safety, increasing the likelihood of surgical complications. However, quality control in surgical instrument manufacturing often relies on…
In recent years, there is a surge on machine learning applications in industry. Many of them are based on popular AI frameworks like Tensorflow, Torch, Caffe, or MxNet, etc, and are enpowered by accelerator platforms such as GPUs. One…
Robot-assisted minimally invasive surgery is improving surgeon performance and patient outcomes. This innovation is also turning what has been a subjective practice into motion sequences that can be precisely measured. A growing number of…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Five billion people in the world lack access to quality surgical care. Surgeon skill varies dramatically, and many surgical patients suffer complications and avoidable harm. Improving surgical training and feedback would help to reduce the…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
Modern production rates and the increasing complexity of mechanical systems require efficient and effective manufacturing and assembly processes. The transition to Industry 4.0, supported by the deployment of innovative tools such as…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
Sketch-based image editing aims to synthesize and modify photos based on the structural information provided by the human-drawn sketches. Since sketches are difficult to collect, previous methods mainly use edge maps instead of sketches to…
In the dynamic landscape of modern healthcare, maintaining the highest standards in surgical instruments is critical for clinical success. This report explores the diverse realm of surgical instruments and their associated manufacturing…
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…
Robotic manipulation of deformable objects remains a challenging task. One such task is to iron a piece of cloth autonomously. Given a roughly flattened cloth, the goal is to have an ironing plan that can iteratively apply a regular iron to…
This work proposes a fault injection methodology where Hardware Description Language (HDL) code slicing is exploited to prune fault injection locations, thus enabling more efficient campaigns for safety mechanisms evaluation. In particular,…
Instance segmentation is an important problem in computer vision, with applications in autonomous driving, drone navigation and robotic manipulation. However, most existing methods are not real-time, complicating their deployment in…
Chemical staining methods are dependable but require extensive time, expensive chemicals, and raise environmental concerns. These challenges highlight the need for alternative solutions like virtual staining, which accelerates the…
We propose EscherNet++, a masked fine-tuned diffusion model that can synthesize novel views of objects in a zero-shot manner with amodal completion ability. Existing approaches utilize multiple stages and complex pipelines to first…
We present an asymptotically faster algorithm for solving linear systems in well-structured 3-dimensional truss stiffness matrices. These linear systems arise from linear elasticity problems, and can be viewed as extensions of graph…