相关论文: Robotic Tele-Operation for Upper Aerodigestive Tra…
Purpose: Transcatheter edge-to-edge repair (TEER) and annuloplasty devices are increasingly used to treat mitral valve regurgitation, yet their mechanical effects and interactions remain poorly understood. This study aimed to establish an…
This paper proposes an upper-limb exoskeleton teleoperation system based on magnetorheological (MR) clutches, aiming to improve operational accuracy and enhance the immersive experience during lunar sampling tasks. Conventional exoskeleton…
Anatomical segmentation of organs in ultrasound images is essential to many clinical applications, particularly for diagnosis and monitoring. Existing deep neural networks require a large amount of labeled data for training in order to…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Purpose. Radiation therapy is a local treatment aimed at cells in and around a tumor. The goal of this study is to develop an algorithmic solution for predicting the position of a target in 3D in real time, aiming for the short fixed…
Radiation therapy presents a need for dynamic tracking of a target tumor volume. Fiducial markers such as implanted gold seeds have been used to gate radiation delivery but the markers are invasive and gating significantly increases…
Advances in laser and optoelectronic technologies brought the general concept of optomechanical manipulation to the level of standard biophysical tools, paving ways towards controlled experiments and measurements of tiny mechanical forces.…
This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulation to quantitatively investigate teleoperation commands for…
Cancer surgery is a key treatment for gastrointestinal (GI) cancers, a group of cancers that account for more than 35% of cancer-related deaths worldwide, but postoperative complications are unpredictable and can be life-threatening. In…
Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…
Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
Ultrasound Localization Microscopy (ULM) offers a cost-effective modality for microvascular imaging by using intravascular contrast agents (microbubbles). However, ULM has a fundamental trade-off between acquisition time and spatial…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to alleviate these pressures by leveraging their human-like…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove…
Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments.…
The advent of telemedicine represents a transformative development in leveraging technology to extend the reach of specialized medical expertise to remote surgeries, a field where the immediacy of expert guidance is paramount. However, the…