Related papers: An Open-Source Robotics Research Platform for Auto…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TMS), a widely used non-invasive brain…
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been limited by a fundamental data problem:…
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Each robot work cell is fully enclosed and features individual…
Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major challenge. Stationary magnetic systems have a limited…
Computer assisted technologies based on algorithmic software segmentation are an increasing topic of interest in complex surgical cases. However - due to functional instability, time consuming software processes, personnel resources or…
Robotic-assisted percutaneous coronary intervention (PCI) holds considerable promise for elevating precision and safety in cardiovascular procedures. Nevertheless, current systems heavily depend on human operators, resulting in variability…
Ultrasound (US) imaging is a vital adjunct to mammography in breast cancer screening and diagnosis, but its reliance on hand-held transducers often lacks repeatability and heavily depends on sonographers' skills. Integrating US systems from…
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…
Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
In Robot-Assisted Minimally Invasive Surgery (RAMIS), a camera assistant is normally required to control the position and zooming ratio of the laparoscope, following the surgeon's instructions. However, moving the laparoscope frequently may…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we…
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…
This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…
Recent results suggest that very large datasets of teleoperated robot demonstrations can be used to train transformer-based models that have the potential to generalize to new scenes, robots, and tasks. However, curating, distributing, and…
Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly rely on intervention provided by vehicle autonomy.…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…