相关论文: Toward Robotically Automated Femoral Vascular Acce…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
Robotic systems are increasingly used in rehabilitation to provide high intensity training for patients with motor impairment. The results of controlled trials involving human subjects confirm the effectiveness of robot-enhanced methods and…
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp,…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining advanced electronic control and actuation have been explored.…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
While we are making progress in overcoming infectious diseases and cancer; one of the major medical challenges of the mid-21st century will be the rising prevalence of stroke. Large vessels occlusions are especially debilitating, yet…
This study considers modern surgical navigation systems based on augmented reality technologies. Augmented reality glasses are used to construct holograms of the patient's organs from MRI and CT data, subsequently transmitted to the…
Aspiration thrombectomy is a treatment option for ischemic stroke due to occlusions in large vessels. During the therapy a device is inserted into the vessel and suction is applied. A new one-dimensional model is introduced that is capable…
Dynamic obstacle avoidance (DOA) is critical for quadrupedal robots operating in environments with moving obstacles or humans. Existing approaches typically rely on navigation-based trajectory replanning, which assumes sufficient reaction…
Electrosurgery is a surgical technique that can improve tissue cutting by reducing cutting force and bleeding. However, electrosurgery adds a risk of thermal injury to surrounding tissue. Expert surgeons estimate desirable cutting…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
The first choice in diagnostic imaging for patients suffering from peripheral arterial disease is 2D ultrasound (US). However, for a proper imaging process, a skilled and experienced sonographer is required. Additionally, it is a highly…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…