相关论文: High-Precision Surgical Robotic System for Intraoc…
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…
Forward-viewing endoscopic optical coherence tomography (OCT) provides 3D imaging in vivo, and can be combined with widefield fluorescence imaging by use of a double-clad fiber. However, it is technically challenging to build a…
Holographic optical coherence tomography (OCT) is a powerful imaging technique, but its ability to reveal low-reflectivity features is limited. In this study, we performed holographic OCT by incoherently averaging volumes with changing…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
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…
Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper…
We combine single- and two-photon interference procedures for characterizing any multi-port linear optical interferometer accurately and precisely. Accuracy is achieved by estimating and correcting systematic errors that arise due to…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…
In order to further develop and implement novel drift scan imaging experiments to undertake wide field, high time resolution surveys for millisecond optical transients, an appropriate telescope drive system is required. This paper describes…
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the…
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predominant method for data collection, current approaches suffer…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Purpose: Accurate intraoperative X-ray/CT registration is essential for surgical navigation in orthopedic procedures. However, existing methods struggle with consistently achieving sub-millimeter accuracy, robustness under broad initial…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
Computational corrections of defocus and aberrations in optical coherence tomography (OCT) offers a promising approach to realize high-resolution imaging with deep imaging depth, but without additional high hardware costs. However, these…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
Optical Coherence Tomography (OCT) is a non-invasive depth resolved optical imaging modality, that enables high resolution, cross-sectional imaging in biological tissues and materials at clinically relevant depths. Though OCT offers high…
This paper presents a novel, compact four-degree-of-freedom motion-tracking device (IMTD) designed for training and evaluation in laparoscopic surgery. The device's kinematics, mechanical design, instrumentation, and prototypes are…
Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…