相关论文: Closed-Loop Magnetic Manipulation for Robotic Tran…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
Concurrent transcranial magnetic stimulation (TMS) and electroencephalography (EEG), or TMS-EEG, holds the potential to broaden the clinical applications of TMS beyond its traditional role in evaluating the cortico-spinal tract and motor…
A time-resolved optical pump-probe technique has been applied for studying the ultrafast dynamics in the magnetic semiconductor EuTe near the absorption band gap. We show that application of external magnetic field up to 6 T results in…
Transmit Array Spatial Encoding (TRASE) is an MRI technique in which spatial encoding is achieved using phase gradients of the B1 field. This approach offers potential advantages such as hardware simplicity and reduced acoustic noise. In…
For minimally invasive endovascular surgery, the localization of catheters and guidewires inside the human body is essential. Electromagnetic (EM) tracking is one technology that allows localizing such surgical instruments. For localizing…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…
Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping,…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
Gaseous microemboli (GME) represent a common complication of cardiac structural interventions across both surgical and transcatheter approaches. Transthoracic cardiac ultrasound imaging represents a convenient methodology to visualize the…
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based pose estimation of hand-held grippers or…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
Echocardiography is the most commonly used imaging technique in clinical cardiology. Due to the high demand for this type of examination and the small number of specialists, there is a need to support the examination process through…
To address the lack of access to ultrasound in remote communities, previous work introduced human teleoperation, a mixed reality and haptics-based tele-ultrasound system. In this approach, a novice takes the role of a cognitive robot…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…
In this paper, we present voltage- and current-mode differential magnetless non-reciprocal devices obtained by pairing two single-ended (SE) circulators, each consisting of three first-order bandpass or bandstop LC filters, connected in…
Cardiac tagging magnetic resonance imaging (t-MRI) is the gold standard for regional myocardium deformation and cardiac strain estimation. However, this technique has not been widely used in clinical diagnosis, as a result of the difficulty…
Magnetic exchange driven proximity effect at a magnetic insulator / topological insulator (MI/TI) interface provides a rich playground for novel phenomena as well as a way to realize low energy dissipation quantum devices. Here we report a…
We propose a magnetic measurement method utilizing a patterned post-sample aperture in a transmission electron microscope. While utilizing electron magnetic circular dichroism, the method circumvents previous needs to shape the electron…