相关论文: Optimizing Base Placement of Surgical Robot: Kinem…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well as camera calibration create errors in this coordinate frame…
Deep brain stimulation (DBS) has the potential to improve the quality of life of people with a variety of neurological diseases. A key challenge in DBS is in the placement of a stimulation electrode in the anatomical location that maximizes…
In this work, we develop an approach for guiding robots to automatically localize and find the shapes of tumors and other stiff inclusions present in the anatomy. Our approach uses Gaussian processes to model the stiffness distribution and…
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…
Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While image-guided surgical navigation is the prevailing standard,…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…
Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popular. These approaches are promising due to their continuous…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
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…
In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where…
Fitness applications are commonly used to monitor activities within the gym, but they often fail to automatically track indoor activities inside the gym. This study proposes a model that utilizes pose estimation combined with a novel data…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…
The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…