相关论文: Towards Autonomous Instrument Tray Assembly for St…

This paper addresses the challenges of vision-based manipulation for autonomous cutting and unpacking of transparent plastic bags in industrial setups, aligning with the Industry 4.0 paradigm. Industry 4.0, driven by data, connectivity,…

Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…

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…

Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…

Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…

This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited…

Image segmentation plays an essential role in medicine for both diagnostic and interventional tasks. Segmentation approaches are either manual, semi-automated or fully-automated. Manual segmentation offers full control over the quality of…

Producing manual, pixel-accurate, image segmentation labels is tedious and time-consuming. This is often a rate-limiting factor when large amounts of labeled images are required, such as for training deep convolutional networks for…

Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…

This paper presents a novel methodology that integrates trustworthy artificial intelligence (AI) with an energy-efficient robotic arm for intelligent waste classification and sorting. By utilizing a convolutional neural network (CNN)…

The use of laboratory robotics for autonomous experiments offers an attractive route to alleviate scientists from tedious tasks while accelerating material discovery for topical issues such as climate change and pharmaceuticals. While some…

Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…

This paper addresses the challenges of automating vibratory sieve shaker operations in a materials laboratory, focusing on three critical tasks: 1) dual-arm lid manipulation in 3 cm clearance spaces, 2) bimanual handover in overlapping…

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…

The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was…

Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, including circular staplers, face challenges such as limited…

Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…

Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…

Procedure step recognition (PSR) aims to identify all correctly completed steps and their sequential order in videos of procedural tasks. The existing state-of-the-art models rely solely on detecting assembly object states in individual…

Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…