Related papers: Towards Autonomous Instrument Tray Assembly for St…
Bagging operations, common in packaging and assisted living applications, are challenging due to a bag's complex deformable properties. To address this, we develop a robotic system for automated bagging tasks using an adaptive…
The most recent advances in medical imaging that have transformed diagnosis, especially in the case of interpreting X-ray images, are actively involved in the healthcare sector. The advent of digital image processing technology and the…
Understanding surgical tasks represents an important challenge for autonomy in surgical robotic systems. To achieve this, we propose an online task segmentation framework that uses hierarchical transition state clustering to activate…
Scanning probe microscopy (SPM) is a valuable technique by which one can investigate the physical characteristics of the surfaces of materials. However, its widespread use is hampered by the time-consuming nature of running an experiment…
Consistent surgical instrument segmentation is critical for automation in robot-assisted surgery. Yet, existing methods only treat instrument-level instance segmentation (IIS) or part-level semantic segmentation (PSS) separately, without…
We present a research picking prototype related to our company's industrial waste sorting application. The goal of the prototype is to be as autonomous as possible and it both calibrates itself and improves its picking with minimal human…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
This study explores a workflow for automated segmentation of lesions in FDG and PSMA PET/CT images. Due to the substantial differences in image characteristics between FDG and PSMA, specialized preprocessing steps are required. Utilizing…
There is a trend in research towards more automation using smart systems powered by artificial intelligence. While experiments are often challenging to automate, they can greatly benefit from automation by reducing labor and increasing…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
Machine learning, particularly deep learning, is transforming industrial quality inspection. Yet, training robust machine learning models typically requires large volumes of high-quality labeled data, which are expensive, time-consuming,…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…
Automated sorting is crucial for improving the efficiency and scalability of textile recycling, but accurately identifying material composition and detecting contaminants from sensor data remains challenging. This paper investigates the use…
The Segment Anything Model (SAM) is a powerful foundation model that has revolutionised image segmentation. To apply SAM to surgical instrument segmentation, a common approach is to locate precise points or boxes of instruments and then use…
In manufacturing processes, surface inspection is a key requirement for quality assessment and damage localization. Due to this, automated surface anomaly detection has become a promising area of research in various industrial inspection…
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Representation learning of the task-oriented attention while tracking instrument holds vast potential in image-guided robotic surgery. Incorporating cognitive ability to automate the camera control enables the surgeon to concentrate more on…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…