相关论文: Clinically Ready Magnetic Microrobots for Targeted…
The vision of personalized medicine is to identify interventions that maintain or restore a person's health based on their individual biology. Medical digital twins, computational models that integrate a wide range of health-related data…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
Autonomous microrobots in blood vessels could enable minimally invasive therapies, but navigation is challenged by dense, moving obstacles. We propose a real-time path planning framework that couples an analytic geometry global planner…
In this paper, we propose an equilibrium-driven controller that enables a marsupial carrier-passenger robotic system to achieve smooth carrier-passenger separation and then to navigate the passenger robot toward a predetermined target…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Chronic disease is a long-lasting condition that can be controlled but not cured. Owing to the portability and continuous action, wearable devices are regarded as promising ways for management and rehabilitation of patients with chronic…
Drug-loaded hydrogels provide a means to deliver pharmaceutical agents to specific sites within the body at a controlled rate. The aim of this paper is to understand how controlled drug release can be achieved by tuning the initial…
Biomedical applications such as targeted drug delivery, microsurgery, and sensing rely on reaching precise areas within the body in a minimally invasive way. Artificial bacterial flagella (ABFs) have emerged as potential tools for this task…
Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…
The transport of motile entities across modulated energy landscapes plays an important role in a range of phenomena in biology, colloidal science and solid-state physics. Here, an easily implementable strategy that allows for the collective…
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…
Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to…
Microbeam radiation therapy (MRT) utilizes coplanar synchrotron radiation beamlets and is a proposed treatment approach for several tumour diagnoses that currently have poor clinical treatment outcomes, such as gliosarcomas. Prescription…
Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…
This letter investigates dynamical optimal transport of underactuated linear systems over an infinite time horizon. In our previous work, we proposed to integrate model predictive control and the celebrated Sinkhorn algorithm to perform…
Drug discovery remains a slow and expensive process that involves many steps, from detecting the target structure to obtaining approval from the Food and Drug Administration (FDA), and is often riddled with safety concerns. Accurate…
Autonomous mechanical thrombectomy (MT) presents substantial challenges due to highly variable vascular geometries and the requirements for accurate, real-time control. While reinforcement learning (RL) has emerged as a promising paradigm…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
A novel concept of nano-scaled interwoven templates for drug delivery with alternating hydro- and lipophilicity properties is introduced. They are built from cellulose and peptide hydrogel in tandem, and characterized by a nano-stacked…