相关论文: A Master-Follower Teleoperation System for Robotic…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
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…
Robot systems for teleoperation commonly use a spring-like force pulling the follower robot towards the leader's position to track their movements. With this control strategy, the tracking accuracy deteriorates when the follower' stiffness…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…
Extended Reality (XR) technologies are gaining traction as effective tools for medical training and procedural guidance, particularly in complex cardiac interventions. This paper presents a novel system for real-time 3D tracking and…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Purpose: Mechanical thrombectomy (MT) improves stroke outcomes, but is limited by a lack of local treatment access. Widespread distribution of reinforcement learning (RL)-based robotic systems can be used to alleviate this challenge through…
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and…
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
This paper presents a closed-loop magnetic manipulation framework for robotic transesophageal echocardiography (TEE) acquisitions. Different from previous work on intracorporeal robotic ultrasound acquisitions that focus on continuum robot…
Catheter-based interventions are widely used for the diagnosis and treatment of cardiac diseases. Recently, robotic catheters have attracted attention for their ability to improve precision and stability over conventional manual approaches.…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…