相关论文: Towards Autonomous Tape Handling for Robotic Wound…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
Hospitalization of patients is one of the major factors for high wound care costs. Most patients do not acquire a wound which needs immediate hospitalization. However, due to factors such as delay in treatment, patient's non-compliance or…
Rehabilitation is essential and critical for post-stroke patients, addressing both physical and cognitive aspects. Stroke predominantly affects older adults, with 75% of cases occurring in individuals aged 65 and older, underscoring the…
The growing rate of chronic wound occurrence, especially in patients with diabetes, has become a concerning trend in recent years. Chronic wounds are difficult and costly to treat, and have become a serious burden on health care systems…
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this task with high speed and accuracy, it is challenging to…
The global burden of acute and chronic wounds presents a compelling case for enhancing wound classification methods, a vital step in diagnosing and determining optimal treatments. Recognizing this need, we introduce an innovative…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Despite the massive costs and widespread harms of substance use, most individuals with substance use disorders (SUDs) receive no treatment at all. Digital therapeutics platforms are an emerging low-cost and low-barrier means of extending…
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle…
Automated skin lesion analysis is very crucial in clinical practice, as skin cancer is among the most common human malignancy. Existing approaches with deep learning have achieved remarkable performance on this challenging task, however,…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
State-of-the-art machine learning models, and especially deep learning ones, are significantly data-hungry; they require vast amounts of manually labeled samples to function correctly. However, in most medical imaging fields, obtaining said…
As robotics continues to advance, the need for adaptive and continuously-learning embodied agents increases, particularly in the realm of assistance robotics. Quick adaptability and long-term information retention are essential to operate…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
Trauma is a significant cause of mortality and disability, particularly among individuals under forty. Traditional diagnostic methods for traumatic injuries, such as X-rays, CT scans, and MRI, are often time-consuming and dependent on…