相关论文: A Patient-Specific Framework for Autonomous Spinal…
Accurate and reliable C-arm positioning is essential for fluoroscopy-guided interventions. However, clinical workflows rely on manual alignment that increases radiation exposure and procedural delays. In this work, we present a pipeline…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
In computer-assisted orthopedic surgery (CAOS), accurate pre-operative to intra-operative bone registration is an essential and critical requirement for providing navigational guidance. This registration process is challenging since the…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
The clinical treatment of degenerative and developmental lumbar spinal stenosis (LSS) is different. Computed tomography (CT) is helpful in distinguishing degenerative and developmental LSS due to its advantage in imaging of osseous and…
This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Autonomous robotic surgery requires deliberation, i.e. the ability to plan and execute a task adapting to uncertain and dynamic environments. Uncertainty in the surgical domain is mainly related to the partial pre-operative knowledge about…
Neural Radiance Field (NeRF) has widely received attention in Sparse-View Computed Tomography (SVCT) reconstruction tasks as a self-supervised deep learning framework. NeRF-based SVCT methods represent the desired CT image as a continuous…
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…
Robotic assistance for experimental manipulation in the life sciences is expected to enable favorable outcomes, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and…
Thousands of people suffer from cranial injuries every year. They require personalized implants that need to be designed and manufactured before the reconstruction surgery. The manual design is expensive and time-consuming leading to…
Feature-based visual simultaneous localization and mapping (SLAM) methods only estimate the depth of extracted features, generating a sparse depth map. To solve this sparsity problem, depth completion tasks that estimate a dense depth from…
Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work,…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally limited by low axial stiffness, poor…
Structured weight pruning is a representative model compression technique of DNNs for hardware efficiency and inference accelerations. Previous works in this area leave great space for improvement since sparse structures with combinations…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Transformer-based methods have recently achieved significant success in 3D human pose estimation, owing to their strong ability to model long-range dependencies. However, relying solely on the global attention mechanism is insufficient for…
Despite the widespread adoption of endoscopic devices for several cancer screening procedures, manual control of these devices still remains challenging for clinicians, leading to several critical issues such as increased workload, fatigue,…