相关论文: Vitreoretinal Surgical Robotic System with Autonom…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…
This paper addresses an important issue raised for the clinical relevance of Computer-Assisted Surgical applications, namely the methodology used to automatically build patient-specific Finite Element (FE) models of anatomical structures.…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
Manipulation without grasping, known as non-prehensile manipulation, is essential for dexterous robots in contact-rich environments, but presents many challenges relating with underactuation, hybrid-dynamics, and frictional uncertainty.…
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately…
In this paper, we perform robot manipulation activities in real-world environments with language contexts by integrating a compact referring image segmentation model into the robot's perception module. First, we propose CLIPU$^2$Net, a…
The amount of surgical data, recorded during video-monitored surgeries, has extremely increased. This paper aims at improving existing solutions for the automated analysis of cataract surgeries in real time. Through the analysis of a video…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
When technical requirements are high, and patient outcomes are critical, opportunities for monitoring and improving surgical skills via objective motion analysis feedback may be particularly beneficial. This narrative review synthesises…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
Optical Coherence Tomography (OCT) is one of the most important retinal imaging technique. However, involuntary motion artifacts still pose a major challenge in OCT imaging that compromises the quality of downstream analysis, such as…
This paper presents the development and experimental evaluation of a surgical robotic system for total hip arthroplasty (THA). Although existing robotic systems used in joint replacement surgery have achieved some progresses, the robot arm…
Levitated optomechanics, the interaction between light and small levitated objects, is a new macroscopic quantum system that is being used as a testing ground for fundamental physics and for the development of sensors with exquisite…
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of…
The acquisition of high-resolution retinal fundus images with a large field of view (FOV) is challenging due to technological, physiological and economic reasons. This paper proposes a fully automatic framework to reconstruct retinal images…
We study the motion of vitreous humour in a deforming eyeball. From the mechanical and computational perspective this is a task to solve a fluid-structure interaction problem between a complex viscoelastic fluid (vitreour humour) and a…
The unique vascularized anatomy of the human eye, encased in the retina, provides an opportunity to act as a window for human health. The retinal structure assists in assessing the early detection, monitoring of disease progression and…
Measuring the eye's mechanical properties in vivo and with minimally invasive techniques can be the key for individualized solutions to a number of eye pathologies. The development of such techniques largely relies on a computational…