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Concentric tube robots (CTRs) offer dexterous motion at millimeter scales, enabling minimally invasive procedures through natural orifices. This work presents a coordinated model-based resection planner and learning-based retraction network…
Existing tracheal tumor resection methods often lack the precision required for effective airway clearance, and robotic advancements offer new potential for autonomous resection. We present a vision-guided, autonomous approach for…
Medical image analysis is a significant application of artificial intelligence for disease diagnosis. A crucial step in this process is the identification of regions of interest within the images. This task can be automated using object…
A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…
Imposing an external magnetic field in short-pulse intense laser-plasma interaction is of broad scientific interest in related plasma research areas. We propose a simple method using a virtual current layer by introducing an extra current…
We generalize to three dimensions (3D) a recently developed improved multi-component pseudopotential lattice Boltzmann method and analyze its applicability to simulate flows through realistic porous media. The model is validated and…
For robot-assisted surgery, an accurate surgical report reflects clinical operations during surgery and helps document entry tasks, post-operative analysis and follow-up treatment. It is a challenging task due to many complex and diverse…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Mammography is currently the primary imaging modality for breast cancer screening and plays an important role in cancer diagnostics. A standard mammographic image acquisition always includes the compression of the breast prior x-ray…
Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are…
Breast lesion localization using tactile imaging is a new and developing direction in medical science. To achieve the goal, proper image reconstruction and image registration can be a valuable asset. In this paper, a new approach of the…
The recent increase in popularity of volumetric representations for scene reconstruction and novel view synthesis has put renewed focus on animating volumetric content at high visual quality and in real-time. While implicit deformation…
The pseudopotential method is one of the most popular extensions of the lattice Boltzmann method (LBM) for phase change and multiphase flow simulation. One attractive feature of the original proposed method consists on its simplicity of…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
The relation between the theory of entanglement and thermodynamics is very tight: a thermodynamic theory of quantum entanglement, as well as the establishment of rigorous formal connections between the laws of thermodynamics and the…
Enabling robots to grasp and reposition human limbs can significantly enhance their ability to provide assistive care to individuals with severe mobility impairments, particularly in tasks such as robot-assisted bed bathing and dressing.…
Recent interest in exploring local vacuum structure of QCD through the properties of the eigenmodes of the lattice Dirac operators rises again the challenge to visualize four-dimensional objects and structures which appear in lattice field…
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…