相关论文: Development of a Stereo-Vision Based High-Throughp…
Medical ultrasound has been widely used to examine vascular structure in modern clinical practice. However, traditional ultrasound examination often faces challenges related to inter- and intra-operator variation. The robotic ultrasound…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
Purpose: In conventional fluoroscopy-guided interventions, the 2D projective nature of X-ray imaging limits depth perception and leads to prolonged radiation exposure. Virtual fluoroscopy, combined with spatially tracked surgical…
Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Background: Robot-assisted minimally invasive surgery (RMIS) research increasingly relies on multimodal data, yet access to proprietary robot telemetry remains a major barrier. We introduce MiDAS, an open-source, platform-agnostic system…
Autonomous Mobile Robots operating in indoor industrial environments require a localization system that is reliable and robust. While Visual Odometry (VO) can offer a reasonable estimation of the robot's state, traditional VO methods…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
Robotic catheterization is typically used for percutaneous coronary intervention procedures nowadays and it involves steering flexible endovascular tools to open up occlusion in the coronaries. In this study, a sample-efficient deep…
3D medical image registration is of great clinical importance. However, supervised learning methods require a large amount of accurately annotated corresponding control points (or morphing), which are very difficult to obtain. Unsupervised…
The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…
In medicine, needles are frequently used to deliver treatments to subsurface targets or to take tissue samples from the inside of an organ. Current clinical practice is to insert needles under image guidance or haptic feedback, although…
A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…
Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation method is highly advantageous in medical applications, the…
This paper presents innovative designs for 3D-printed tumbling microrobots, specifically engineered for targeted in vivo drug delivery applications. The microrobot designs, created using stereolithography 3D printing technologies,…
Learning-based multi-view stereo (MVS) has by far centered around 3D convolution on cost volumes. Due to the high computation and memory consumption of 3D CNN, the resolution of output depth is often considerably limited. Different from…
When humans perform complex insertion tasks such as pushing a cup into a cupboard, routing a cable, or putting a key in a lock, they wiggle the object and adapt the process through tactile feedback. A similar robotic approach has not been…
We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…