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Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…

This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…

Generalized metric depth understanding is critical for precise vision-guided robotics, which current state-of-the-art (SOTA) vision-encoders do not support. To address this, we propose Vanishing Depth, a self-supervised training approach…

Robot-assisted endovascular intervention offers a safe and effective solution for remote catheter manipulation, reducing radiation exposure while enabling precise navigation. Reinforcement learning (RL) has recently emerged as a promising…

In this article we address the problem of catching objects that move at a relatively large distance from the robot, of the order of tens of times the size of the robot itself. To this purpose, we adopt casting manipulation and visual-based…

Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…

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…

Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the…

During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…

Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess has been made in the mechanical design and dynamic…

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…

Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…

Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…

Intravoxel incoherent motion (IVIM) is a diffusion-weighted magnetic resonance imaging (MRI) method that may be applied to the placenta to help diagnose abnormal pregnancies. IVIM requires prolonged scan times, followed by a model-based…

This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…

With worldwide implementation, millions of surgeries are assisted by surgical robots. The cable-drive mechanism on many surgical robots allows flexible, light, and compact arms and tools. However, the slack and stretch of the cables and the…

Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…

Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large…