相关论文: Towards Autonomous Robotic Electrosurgery via Ther…
Electropermeabilization is a clinical technique in cancer treatment to locally stimulate the cell metabolism. It is based on electrical fields that change the properties of the cell membrane. With that, cancer treatment can reach the cell…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
The optical cross sections of plasmonic nanoparticles are intricately linked to the morphology of the particle. If this connection can be made accurately enough, it would become possible to determine a particles shape solely from its…
Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…
Predicting a potential collision with leading vehicles is an essential functionality of any autonomous/assisted driving system. One bottleneck of existing vision-based solutions is that their updating rate is limited to the frame rate of…
Infrared thermography faces persistent challenges in temperature accuracy due to material emissivity variations, where existing methods often neglect the joint optimization of radiometric calibration and image degradation. This study…
Over the past decades, thermal ablation procedures such as high intensity focused ultrasound (HIFU) have been developed vaporize cancerous tissues in a focal area. Thermal ablation has the potential to non-invasively eliminate tumors and…
Thermoelectric coolers (TECs) offer a promising solution for direct cooling of local hotspots and active thermal management in advanced electronic systems. However, TECs present significant trade-offs among spatial cooling, heating and…
Transmission Electron Microscopy (TEM) is a powerful tool for imaging material structure and characterizing material chemistry. Recent advances in data collection technology for TEM have enabled high-volume and high-resolution data…
Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision and efficiency: small MSF enables delicate manipulation but…
Natural muscles provide mobility in response to nerve impulses. Electromyography (EMG) measures the electrical activity of muscles in response to a nerve's stimulation. In the past few decades, EMG signals have been used extensively in the…
This paper presents a novel method to estimate the power consumption of distinct active components on an electronic carrier board by using thermal imaging. The components and the board can be made of heterogeneous material such as plastic,…
Electroporation is a complex, iterative, and nonlinear phenomenon that is often studied by numerical simulations. In recent years, tissue electroporation simulations have been performed using static models. However, the results of a static…
This work demonstrates the benefits of using tool-tissue interaction forces in the design of autonomous systems in robot-assisted surgery (RAS). Autonomous systems in surgery must manipulate tissues of different stiffness levels and hence…
Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…
New strategy is presented to optimize the performance of Thermoelectric (TE) coolers. This approach breaks optimizing TE coolers free from traditional methods of controlling temperature or engineering materials and the structural properties…
Bronchoscopy with transbronchial biopsy is a minimally invasive and effective method for early lung cancer intervention. Robot-assisted bronchoscopy offers improved precision, spatial flexibility, and reduced risk of cross-infection. This…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
Background Analyzing kinematic and video data can help identify potentially erroneous motions that lead to sub-optimal surgeon performance and safety-critical events in robot-assisted surgery. Methods We develop a rubric for identifying…
Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions, such as those in the liver, exhibit rhythmic components…