相关论文: Learning-Based Modeling of a Magnetically Steerabl…
Human-robot co-manipulation of soft materials, such as fabrics, composites, and sheets of paper/cardboard, is a challenging operation that presents several relevant industrial applications. Estimating the deformation state of the…
This work presents the design, implementation and validation of learning techniques based on the kNN scheme for gesture detection in prosthetic control. To cope with high computational demands in instance-based prediction, methods of…
The elasticity of soft tissues has been widely considered as a characteristic property to differentiate between healthy and vicious tissues and, therefore, motivated several elasticity imaging modalities, such as Ultrasound Elastography,…
Magnetic Resonance Spectroscopic Imaging (MRSI) is a powerful tool for non-invasive mapping of brain metabolites, providing critical insights into neurological conditions. However, its utility is often limited by missing or corrupted data…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
Magnetic response soft robot realizes programmable shape regulation with the help of magnetic field and produces various actions. The shape control of magnetic soft robot is based on the magnetic anisotropy caused by the orderly…
Magnetic Resonance Fingerprinting (MRF) enables fast quantitative imaging, yet reconstructing high-resolution 3D data remains computationally demanding. Non-Cartesian reconstructions require repeated non-uniform FFTs, and the commonly used…
We propose a PDE-constrained shape registration algorithm that captures the deformation and growth of biological tissue from imaging data. Shape registration is the process of evaluating optimum alignment between pairs of geometries through…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
Encoder-decoder networks become a popular choice for various medical image segmentation tasks. When they are trained with a standard loss function, these networks are not explicitly enforced to preserve the shape integrity of an object in…
In this work, we present a new method for 3D face reconstruction from sparse-view RGB images. Unlike previous methods which are built upon 3D morphable models (3DMMs) with limited details, we leverage an implicit representation to encode…
Tissue stiffness is related to soft tissue pathologies and can be assessed through palpation or via clinical imaging systems, e.g., ultrasound or magnetic resonance imaging. Typically, the image based approaches are not suitable during…
Medical image segmentation has become an essential technique in clinical and research-oriented applications. Because manual segmentation methods are tedious, and fully automatic segmentation lacks the flexibility of human intervention or…
Deformable tracking and real-time estimation of 3D tissue motion is essential to enable automation and image guidance applications in robotically assisted surgery. Our model, Sparse Efficient Neural Depth and Deformation (SENDD), extends…
Surgical reconstruction of dynamic tissues from endoscopic videos is a crucial technology in robot-assisted surgery. The development of Neural Radiance Fields (NeRFs) has greatly advanced deformable tissue reconstruction, achieving…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, Sensorless…
Deep brain stimulation (DBS) has the potential to improve the quality of life of people with a variety of neurological diseases. A key challenge in DBS is in the placement of a stimulation electrode in the anatomical location that maximizes…