Related papers: High-Precision Surgical Robotic System for Intraoc…
Optical microrobots (OPTOBOTs) have garnered significant interest, particularly in the medical field, due to their potential for precise cell manipulation in various biological studies and microsurgical applications. Previously described…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Based on high-throughput dark-field full-field optical coherence tomography, we designed and built an OCT system that can measure a variety of samples with different scattered light intensities, such as materials with multi-layer…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
Instructional cataract surgery videos are crucial for ophthalmologists and trainees to observe surgical details repeatedly. This paper presents a deep learning model for real-time identification of surgical instruments in these videos,…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
Purpose. Intraoperative Optical Coherence Tomography (iOCT) is an increasingly available imaging technique for ophthalmic microsurgery that provides high-resolution cross-sectional information of the surgical scene. We propose to build on…
Optical microrobots, manipulated via optical tweezers (OT), have broad applications in biomedicine. However, reliable pose and depth perception remain fundamental challenges due to the transparent or low-contrast nature of the microrobots,…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
Large-volume optical coherence tomography (OCT)-setups employ scanning mirrors and suffer from non-linear geometric distortion artifacts in which the degree of distortion is determined by the maximum angles over which the mirrors rotate. In…
Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous…
Optical Coherence Tomography (OCT) has become an indispensable tool for investigating mesoscopic features in soft matter and fluid mechanics. Its ability to provide high-resolution, non-invasive measurements in both spatial and temporal…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
This paper aims to evaluate mid-infrared (MIR) Optical Coherence Tomography (OCT) systems as a tool to penetrate different materials and detect sub-surface irregularities. This is useful for monitoring production processes, allowing…
Optical coherence tomography (OCT) is a non-invasive, micrometer-scale imaging modality that has become a clinical standard in ophthalmology. By raster-scanning the retina, sequential cross-sectional image slices are acquired to generate…