相关论文: Clinically Ready Magnetic Microrobots for Targeted…
This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A…
This paper presents the development and evaluation of a medical service robot equipped with 3D LiDAR and advanced localization capabilities for use in hospital environments. The robot employs LiDAR-based Simultaneous Localization and…
The question of how "smart" active agents, like insects, microorganisms, or future colloidal robots need to steer to optimally reach or discover a target, such as an odor source, food, or a cancer cell in a complex environment has recently…
This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of spherical permanent magnets; and an actuation system comprised…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…
The concept of personalised medicine in cancer therapy is becoming increasingly important. There already exist drugs administered specifically for patients with tumours presenting well-defined mutations. However, the field is still in its…
Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Tacrolimus is one of the cornerstone immunosuppressive drugs in most transplantation centers worldwide following solid organ transplantation. Therapeutic drug monitoring of tacrolimus is necessary in order to avoid rejection of the…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Thermoresponsive hydrogels have been studied intensively for creating smart drug carriers and controlled drug delivery. Understanding the drug release kinetics and corresponding transport mechanisms of nanoparticles (NPs) in a…
To navigate medical instruments safely and accurately inside a patient's vascular tree, combining X-ray fluoroscopy with intermittent contrast injections is the gold standard. However, prolonged exposure to ionizing radiation poses health…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
Introduction: Socially assistive robots hold promise for enhancing therapeutic engagement in paediatric clinical settings. However, their successful implementation requires not only technical robustness but also context-sensitive,…
A conceptual model for targeted particle delivery is proposed using controlled vortex ring reconnection. Entrained particles can be efficiently transported within the core of the vortex ring which is propelled via self-induction. A pair of…
Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating…
Background: Computational drug repurposing is a cost- and time-efficient approach that aims to identify new therapeutic targets or diseases (indications) of existing drugs/compounds. It is especially critical for emerging and/or orphan…
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…