相关论文: Autonomous Catheterization with Open-source Simula…
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…
Intra-cardiac Echocardiography (ICE) is a powerful imaging modality for guiding electrophysiology and structural heart interventions. ICE provides real-time observation of anatomy, catheters, and emergent complications. However, this…
Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
This paper presents YatSim, an open-source program for simulating consensus-based control strategies in urban traffic networks. Urban traffic is a multi-agent system which requires agreement among the agents to guarantees performance,…
Background and Objective: Computational ultrasound imaging has become a well-established methodology in the ultrasound community. Simulations of ultrasound sequences and images allow the study of innovative techniques in terms of emission…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
Simulations of Cardiac Electrophysiology are gaining momentum beyond basic mechanistic studies, as an approach for supporting clinical decision making. The potential for in silico technologies observed from the research community is…
Cardiac catheterization remains a cornerstone of minimally invasive interventions, yet it continues to rely heavily on manual operation. Despite advances in robotic platforms, existing systems are predominantly follow-leader in nature,…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
To meet the growing demand for systematic surgical training, wet-lab environments have become indispensable platforms for hands-on practice in ophthalmology. Yet, traditional wet-lab training depends heavily on manual performance…
Realistic simulation is key to enabling safe and scalable development of % self-driving vehicles. A core component is simulating the sensors so that the entire autonomy system can be tested in simulation. Sensor simulation involves modeling…
Wheelchairs and robotic arms enhance independent living by assisting individuals with upper-body and mobility limitations in their activities of daily living (ADLs). Although recent advancements in assistive robotics have focused on…
Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and…
The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system…
We present a vision simulator device (Katsim), a compact near-eye optical display designed for assessing postoperative corrected vision, preoperative intraocular lens (IOL) assessment, and objective IOL characterization. The system forms a…