相关论文: Vitreoretinal Surgical Robotic System with Autonom…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…
BACKGROUND: Augmented reality (AR) is gaining popularity in varying field such as computer gaming and medical education fields. However, still few of applications in real surgeries. Orthopedic surgical applications are currently limited and…
The highest three-dimensional (3D) resolution possible in in-vivo retinal imaging is achieved by combining optical coherence tomography (OCT) and adaptive optics (AO). However, this combination brings important limitations, such as small…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Poor access to eye care is a major global challenge that could be ameliorated by low-cost, portable, and easy-to-use diagnostic technologies. Diffuser-based imaging has the potential to enable inexpensive, compact optical systems that can…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp,…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper…
Synthesizing images of the eye fundus is a challenging task that has been previously approached by formulating complex models of the anatomy of the eye. New images can then be generated by sampling a suitable parameter space. In this work,…
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…
We demonstrate an optomechanical platform where optical mode conversion mediated by mechanical motion enables arbitrary tailoring of polarization states of propagating light fields. Optomechanical interactions are realized in a…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Small body exploration is a pertinent challenge due to low gravity environments and strong sensitivity to perturbations like Solar Radiation Pressure (SRP). Thus, autonomous methods are being developed to enable safe navigation and control…