相关论文: Development of a Stereo-Vision Based High-Throughp…
Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment…
Purpose: Image guidance is crucial for the success of many interventions. Images are displayed on designated monitors that cannot be positioned optimally due to sterility and spatial constraints. This indirect visualization causes potential…
In pathology and legal medicine, the histopathological and microbiological analysis of tissue samples from infected deceased is a valuable information for developing treatment strategies during a pandemic such as COVID-19. However, a…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
This study explores the use of immersive virtual reality (VR) as a control interface for agricultural robots in vineyard disease detection and treatment. Using a Unity-ROS simulation, it compares three agents: a human operator, an immersive…
Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBVS) with Deep Learning-Based Visual Servoing (DLBVS) to…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can significantly reduce surgeons' fatigue during tele-operated…
Cardiovascular diseases account for around 17.9 million deaths per year globally, the treatment of which is challenging considering the confined space and complex topology of the vascular network and high risks during operations. Robots,…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
We propose a fully automatic system to reconstruct and visualize 3D blood vessels in Augmented Reality (AR) system from stereo X-ray images with bones and body fat. Currently, typical 3D imaging technologies are expensive and carrying the…
We address the problem of devising the means for a robot to rapidly and safely learn insertion skills with just a few human interventions and without hand-crafted rewards or demonstrations. Our InsertionNet version 2.0 provides an improved…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Touchless interaction with medical images is becoming increasingly important in the surgical field, where sterility and continuity of the operational workflow are essential requirements. This work presents a vision-based system for…
Transcatheter tricuspid valve replacement (TTVR) is the latest treatment for tricuspid regurgitation and is in the early stages of clinical adoption. Intelligent robotic approaches are expected to overcome the challenges of surgical…