相关论文: Visual-Haptic Model Mediated Teleoperation for Rem…
To perform outdoor visual navigation and search, a robot may leverage satellite imagery to generate visual priors. This can help inform high-level search strategies, even when such images lack sufficient resolution for target recognition.…
Ultrasound (US) imaging is a vital adjunct to mammography in breast cancer screening and diagnosis, but its reliance on hand-held transducers often lacks repeatability and heavily depends on sonographers' skills. Integrating US systems from…
An alternative approach to ultrasound computed tomography (USCT) for medical imaging is proposed, with the intent to (i) shorten acquisition time for devices with a large number of emitters, (ii) eliminate the calibration step, and (iii)…
This paper introduces the TactiMesh Teleoperator Interface (TTI), a novel predictive visual and haptic system designed explicitly for human-in-the-loop robot control using a head-mounted display (HMD). By employing simultaneous localization…
Tele-ultrasound through teleoperation allows experts to perform examinations remotely in communities, but limited connectivity can lead to communication delays that reduce usability and diagnostic performance. Visual-haptic model mediated…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
PET imaging is widely employed for observing biological metabolic activities within the human body. However, numerous benign conditions can cause increased uptake of radiopharmaceuticals, confounding differentiation from malignant tumors.…
Anatomical segmentation of organs in ultrasound images is essential to many clinical applications, particularly for diagnosis and monitoring. Existing deep neural networks require a large amount of labeled data for training in order to…
The advancement of medical image segmentation techniques has been propelled by the adoption of deep learning techniques, particularly UNet-based approaches, which exploit semantic information to improve the accuracy of segmentations.…
Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…
We present TiPToP, an extensible modular system that combines pretrained vision foundation models with an existing Task and Motion Planner (TAMP) to solve multi-step manipulation tasks directly from input RGB images and natural-language…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Purpose: The integration of multimodal imaging into operating rooms paves the way for comprehensive surgical scene understanding. In ophthalmic surgery, by now, two complementary imaging modalities are available: operating microscope (OPMI)…
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to alleviate these pressures by leveraging their human-like…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
This paper proposes a multipath compensation algorithm (MCA) to enhance the performance of an ultrasonic local positioning system under adverse multipath conditions. The proposed algorithm is based on the accurate estimation of the…
Ultrasound (US) is widely used for its advantages of real-time imaging, radiation-free and portability. In clinical practice, analysis and diagnosis often rely on US sequences rather than a single image to obtain dynamic anatomical…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
Multi-variate time series (MTS) data is a ubiquitous class of data abstraction in the real world. Any instance of MTS is generated from a hybrid dynamical system and their specific dynamics are usually unknown. The hybrid nature of such a…