相关论文: VeniBot: Towards Autonomous Venipuncture with Auto…
In the modern medical care, venipuncture is an indispensable procedure for both diagnosis and treatment. In this paper, unlike existing solutions that fully or partially rely on professional assistance, we propose VeniBot -- a compact…
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…
Assessing the condition and visibility of veins is a crucial step before obtaining intravenous access in the antecubital fossa, which is a common procedure to draw blood or administer intravenous therapies (IV therapies). Even though…
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate a problem of automated vascular shunt insertion and propose…
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small size and fragility of retinal veins, coupled with the need…
The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precise positioning of puncture…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…
Recently, machine learning has been successfully applied to model-based left ventricle (LV) segmentation. The general framework involves two stages, which starts with LV localization and is followed by boundary delineation. Both are driven…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critical role, successful vascular access remains challenging due…
This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
Despite rapid commercialization of surgical robots, their autonomy and real-time decision-making remain limited in practice. To address this gap, we propose ArthroCut, an autonomous policy learning framework that upgrades knee arthroplasty…
The assessment of the blood volume is crucial for the management of many acute and chronic diseases. Recent studies have shown that circulating blood volume correlates with the cross-sectional area (CSA) of the internal jugular vein (IJV)…
The widespread application of industrial robots in fields such as cutting and welding has imposed increasingly stringent requirements on the trajectory accuracy of end-effectors. However, current error compensation methods face several…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…