相关论文: Autonomous Magnetic Navigation Framework for Activ…

Monocular depth and pose estimation play an important role in the development of colonoscopy-assisted navigation, as they enable improved screening by reducing blind spots, minimizing the risk of missed or recurrent lesions, and lowering…

Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…

Wireless Capsule Endoscopy (WCE) is a relatively new technology to record the entire GI trace, in vivo. The large amounts of frames captured during an examination cause difficulties for physicians to review all these frames. The need for…

Cardiovascular diseases remain the leading cause of global mortality, with minimally invasive treatment options offered through endovascular interventions. However, the precision and adaptability of current robotic systems for endovascular…

Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localization and mapping (SLAM) systems are particularly attractive.…

Video Capsule Endoscopy (VCE) is currently one of the most effective methods for detecting intestinal diseases. However, it is challenging to detect early-stage small nodules with this method because they lack obvious color or shape…

Identifying unique polyps in colon capsule endoscopy (CCE) images is a critical yet challenging task for medical personnel due to the large volume of images, the cognitive load it creates for clinicians, and the ambiguity in labeling…

Biomedical applications such as targeted drug delivery, microsurgery, and sensing rely on reaching precise areas within the body in a minimally invasive way. Artificial bacterial flagella (ABFs) have emerged as potential tools for this task…

The progress in Computer Aided Diagnosis (CADx) of Wireless Capsule Endoscopy (WCE) is thwarted by the lack of data. The inadequacy in richly representative healthy and abnormal conditions results in isolated analyses of pathologies, that…

The contextual information, presented in abdominal CT scan, is relative consistent. In order to make full use of the overall 3D context, we develop a whole-volume-based coarse-to-fine framework for efficient and effective abdominal…

Computer-based analysis of Wireless Capsule Endoscopy (WCE) is crucial. However, a medically annotated WCE dataset for training and evaluation of automatic classification, detection, and segmentation of bleeding and non-bleeding frames is…

Purpose: Autonomous navigation of catheters and guidewires can enhance endovascular surgery safety and efficacy, reducing procedure times and operator radiation exposure. Integrating tele-operated robotics could widen access to…

This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…

In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…

Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…

Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…

This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. The proposed approach does not rely on the global map information and achieves fast navigation by employing a tentacle based sampling and…

Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…

This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…

Miniature magnetic tools have the potential to enable minimally invasive surgical techniques to be applied to space-restricted surgical procedures in areas such as neurosurgery. However, typical magnetic navigation systems, which create the…