相关论文: Safe Path following for Middle Ear Surgery

Cone Beam Computed Tomography (CBCT) is widely used in dentistry for diagnostics and treatment planning. CBCT Imaging has a long acquisition time and consequently, the patient is likely to move. This motion causes significant artifacts in…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

Magnetic continuum robots (MCRs) enable minimally invasive navigation through tortuous anatomical channels, yet axially magnetized designs have largely been limited to bending-only motion. To expand deformation capabilities, this paper…

Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…

The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…

Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms, primarily based on the da Vinci…

Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Precise surgical procedures may benefit from intra-operative image guidance using magnetic resonance imaging (MRI). However, the MRI's strong magnetic fields, fast switching gradients, and constrained space pose the need for an MR-guided…

Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…

This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulation to quantitatively investigate teleoperation commands for…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…

We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…

Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small…

We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…

In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerges from embedding risk in AV motion planning algorithms.…

We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear---and possibly non-smooth---objective part is endowed with a proximity operator, and the constraint set…