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We present a data-driven approach for physics-based, muscle-driven dexterous control that enables musculoskeletal hands to perform precise piano playing for novel pieces of music outside the reference dataset. Our approach combines…
Background: RSN whole-heart CMRA is a technique that estimates and corrects for respiratory motion. However, RSN has been limited to a 1D rigid correction which is often insufficient for patients with complex respiratory patterns. The goal…
Surgical guidance can be delivered in various ways. In neurosurgery, spatial guidance and orientation are predominantly achieved through neuronavigation systems that reference pre-operative MRI scans. Recently, there has been growing…
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…
Underneath the ear skin there are richly branching vascular and neural networks that ultimately connecting to our heart and brain. Hence, the three-dimensional (3D) mapping of auricular electrophysiological signals could provide a new…
Electroencephalography (EEG)-based auditory attention detection (AAD) offers a non-invasive way to enhance hearing aids, but conventional methods rely on too many electrodes, limiting wearability and comfort. This paper presents SHAP-AAD, a…
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like artifacts, and low image resolution make robust needle…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
Imitating how humans move their gaze in a visual scene is a vital research problem for both visual understanding and psychology, kindling crucial applications such as building alive virtual characters. Previous studies aim to predict gaze…
Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…
Multimodal vital sign monitoring and speech detection hold significant importance in medical health, public safety, and other fields. This study proposes a broadband tunable microwave photonic radar system that can simultaneously monitor…
Annually, more than 16 billion medical needles are consumed worldwide. However, the functions of the medical needle are still limited to cutting and delivering or drawing material through the needle to a target site. Ultrasound combined…
Sim2real transfer has received increasing attention lately due to the success of learning robotic tasks in simulation end-to-end. While there has been a lot of progress in transferring vision-based navigation policies, the existing sim2real…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
We introduce a speech-guided embodied agent framework for video-guided skull base surgery that dynamically executes perception and image-guidance tasks in response to surgeon queries. The proposed system integrates natural language…
Accurate neuronavigation is critical for effective transcranial magnetic stimulation (TMS), as stimulation outcomes depend directly on precise coil placement. Existing neuronavigation systems are often costly, complex, and prone to tracking…
In perioperative care, precise in-bed 3D patient pose and shape estimation (PSE) can be vital in optimizing patient positioning in preoperative planning, enabling accurate overlay of medical images for augmented reality-based surgical…
Abstract Background During percutaneous puncture robotic surgical navigation, the needle insertion point is positioned on the patient's chest and abdomen body surface. By locating any point on the soft skin tissue, it is difficult to apply…
Electrodermal activity (EDA) is considered a standard marker of sympathetic activity. However, traditional EDA measurement requires electrodes in steady contact with the skin. Can sympathetic arousal be measured using only an optical…
Photoplethysmography (PPG) sensors allow for non-invasive and comfortable heart-rate (HR) monitoring, suitable for compact wrist-worn devices. Unfortunately, Motion Artifacts (MAs) severely impact the monitoring accuracy, causing high…