相关论文: Autonomous Guidewire Navigation for Robot-assisted…
Robotic-assisted percutaneous coronary intervention (PCI) is constrained by the inherent limitations of 2D Digital Subtraction Angiography (DSA). Unlike physicians, who can directly manipulate guidewires and integrate tactile feedback with…
Visualization recommendation or automatic visualization generation can significantly lower the barriers for general users to rapidly create effective data visualizations, especially for those users without a background in data…
Interactive visual navigation tasks, which involve following instructions to reach and interact with specific targets, are challenging not only because successful experiences are very rare but also because the complex visual inputs require…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
Kinematic trajectories recorded from surgical robots contain information about surgical gestures and potentially encode cues about surgeon's skill levels. Automatic segmentation of these trajectories into meaningful action units could help…
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…
Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical…
This work presents a harmonic design of autonomous guided vehicle (AGV) control, edge intelligence, and human input to enable autonomous transportation in industrial environments. The AGV has the capability to navigate between a source and…
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…
It is fundamental for personal robots to reliably navigate to a specified goal. To study this task, PointGoal navigation has been introduced in simulated Embodied AI environments. Recent advances solve this PointGoal navigation task with…
We introduce a speech-guided embodied agent framework for video-guided skull base surgery that dynamically executes perception and image-guidance tasks in response to surgeon queries. The proposed system integrates natural language…
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,…
Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…
Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…
Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate a problem of automated vascular shunt insertion and propose…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Visual odometry is important for plenty of applications such as autonomous vehicles, and robot navigation. It is challenging to conduct visual odometry in textureless scenes or environments with sudden illumination changes where popular…