相关论文: Towards Autonomous Tape Handling for Robotic Wound…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Chronic wounds pose an ongoing health concern globally, largely due to the prevalence of conditions such as diabetes and leprosy's disease. The standard method of monitoring these wounds involves visual inspection by healthcare…
Acute and chronic wounds with varying etiologies burden the healthcare systems economically. The advanced wound care market is estimated to reach $22 billion by 2024. Wound care professionals provide proper diagnosis and treatment with…
The process of wound healing has been an active area of research around the world. The problem is the wounds of different patients heal differently. For example, patients with a background of diabetes may have difficulties in healing [1].…
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient.…
Pressure ulcers are a challenge for patients and healthcare professionals. In the UK, 700,000 people are affected by pressure ulcers each year. Treating them costs the National Health Service {\pounds}3.8 million every day. Their etiology…
The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which…
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…
Robot-Assisted Therapy (RAT) has successfully been used in HRI research by including social robots in health-care interventions by virtue of their ability to engage human users both social and emotional dimensions. Research projects on this…
Human physical function is governed by self-efficacy, the belief in one's motor capacity. In chronic pain patients, this capacity may remain reduced long after the damage causing the pain has been cured. Chronic pain alters body schema,…
Hospital readmissions are expensive and reflect the inadequacies in healthcare system. In the United States alone, treatment of readmitted diabetic patients exceeds 250 million dollars per year. Early identification of patients facing a…
Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical and virtual environments, it is imperative to develop…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
Over the past few years, surgical data science has attracted substantial interest from the machine learning (ML) community. Various studies have demonstrated the efficacy of emerging ML techniques in analysing surgical data, particularly…
Identifying, tracking, and predicting wound heal-stage progression is a fundamental task towards proper diagnosis, effective treatment, facilitating healing, and reducing pain. Traditionally, a medical expert might observe a wound to…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…