相关论文: Robotic Tele-Operation for Upper Aerodigestive Tra…
Early detection of cancer is crucial for treatment and overall patient survival. In the upper aerodigestive tract (UADT) the gold standard for identification of malignant tissue is an invasive biopsy. Recently, non-invasive imaging…
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…
Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays. As one of the best alternatives to human-level intelligence, Reinforcement Learning (RL) may offer a solution to cope…
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…
Flexible endoscopy requires high skills to manipulate both the endoscope and associated instruments. In most robotic flexible endoscopic systems, the endoscope and instruments are controlled separately by two operators, which may result in…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…
Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face robotic hardware dependency and control frequency mismatches…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…
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…
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on in this work is the Explosive Ordnance Disposal. Robot…
Free-hand dental procedures are typically repetitive, time-consuming and require high precision and manual dexterity. Robots can play a key role in improving procedural accuracy and safety, enhancing patient comfort, and reducing operator…
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surrounding healthy structures. However, building an…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
Gastrointestinal endoscopy is a medical procedure that utilizes a flexible tube equipped with a camera and other instruments to examine the digestive tract. This minimally invasive technique allows for diagnosing and managing various…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a…
Vision-Language-Action (VLA) models have emerged as a prominent research area, showcasing significant potential across a variety of applications. However, their performance in endoscopy robotics, particularly endoscopy capsule robots that…