相关论文: Measurement and Potential Field-Based Patient Mode…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
In ultrasound tomography, the speed of sound inside an object is estimated based on acoustic measurements carried out by sensors surrounding the object. An accurate forward model is a prominent factor for high-quality image reconstruction,…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
Tissue deformation in ultrasound (US) imaging leads to geometrical errors when measuring tissues due to the pressure exerted by probes. Such deformation has an even larger effect on 3D US volumes as the correct compounding is limited by the…
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to…
Accurate estimation of human hand configuration and the forces they exert is critical for effective teleoperation and skill transfer in robotic manipulation. A deeper understanding of human interactions with objects can further enhance…
The three-dimensional reconstruction of vocal folds in medicine usually involves endoscopy and an approach to extract depth information like structured light or stereo matching of images. The resulting mesh can accurately represent the…
We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and generalizes two ideas: a bed of springs (an "elastic…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…
Numerous cell types relate to their immediate environment by exerting a three-dimensional pressure field on their environment, with components both longitudinal and transverse to the cell membrane. This pressure field can in principle be…
Transcranial ultrasound therapy uses focused acoustic energy to induce therapeutic bioeffects in the brain. Ultrasound must be transmitted through the skull, which is highly attenuating and heterogeneous, causing beam distortion, reducing…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
Medical ultrasound imaging is the most widespread real-time non-invasive imaging system and its formulation comprises signal transmission, signal reception, and image formation. Ultrasound signal transmission modelling has been formalized…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
This paper proposes an upper-limb exoskeleton teleoperation system based on magnetorheological (MR) clutches, aiming to improve operational accuracy and enhance the immersive experience during lunar sampling tasks. Conventional exoskeleton…
Extreme wavefront correction is required for coronagraphs on future space telescopes to reach 1e-8 or better starlight suppression for the direct imaging and characterization of exoplanets in reflected light. Thus, a suite of wavefront…