Related papers: Robotic Tele-Operation for Upper Aerodigestive Tra…
Autonomous surgical robots have demonstrated significant potential to standardize surgical outcomes, driving innovations that enhance safety and consistency regardless of individual surgeon experience. Deep anterior lamellar keratoplasty…
Existing tracheal tumor resection methods often lack the precision required for effective airway clearance, and robotic advancements offer new potential for autonomous resection. We present a vision-guided, autonomous approach for…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
Bronchoscopy plays a significant role in the early diagnosis and treatment of lung diseases. This process demands physicians to maneuver the flexible endoscope for reaching distal lesions, particularly requiring substantial expertise when…
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
Manipulating Deformable Linear Objects (DLOs) is challenging in robotics due to their infinite-dimensional configuration space and complex nonlinear dynamics. In teleoperation, depth uncertainty hinders state perception and reaction.…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information about the teleoperator's hand pose. However, mapping from…
Speech therapy is essential for rehabilitating speech disorders caused by neurological impairments such as stroke. However, traditional manual and computer-assisted systems are limited in real-time accessibility and articulatory motion…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…
Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate…
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
Radiation therapy treatment planning is an iterative, expertise-dependent process, and the growing burden of cancer cases has made reliance on manual planning increasingly unsustainable, underscoring the need for automation. In this study,…
To use assistive robots in everyday life, a remote control system with common devices, such as 2D devices, is helpful to control the robots anytime and anywhere as intended. Hand-drawn sketches are one of the intuitive ways to control…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…