相关论文: Towards Autonomous Instrument Tray Assembly for St…
Labor shortages have severely affected the meat processing sector. Automated technology has the potential to support the meat industry, assist workers, and enhance job quality. However, existing automation in meat processing is highly…
Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing themselves in the numerous intricacies of a surgical…
This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Manual operations remain essential in industrial production because of their flexibility and low implementation cost. However, ensuring their quality and monitoring execution in real time remains a challenge, especially under conditions of…
Segmentation of surgical instruments is crucial for enhancing surgeon performance and ensuring patient safety. Conventional techniques such as binary, semantic, and instance segmentation share a common drawback: they do not accommodate the…
Scanning transmission electron microscopy is a common tool used to study the atomic structure of materials. It is an inherently multimodal tool allowing for the simultaneous acquisition of multiple information channels. Despite its…
The Segment Anything Model (SAM) exhibits promise in generic object segmentation and offers potential for various applications. Existing methods have applied SAM to surgical instrument segmentation (SIS) by tuning SAM-based frameworks with…
Traditionally, pathological analysis and diagnosis are performed by manually eyeballing glass slide specimens under a microscope by an expert. The whole slide image is the digital specimen produced from the glass slide. Whole slide image…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Precise instrument segmentation aid surgeons to navigate the body more easily and increase patient safety. While accurate tracking of surgical instruments in real-time plays a crucial role in minimally invasive computer-assisted surgeries,…
The escalating volumes of textile waste globally necessitate innovative waste management solutions to mitigate the environmental impact and promote sustainability in the fashion industry. This paper addresses the inefficiencies of…
The Intermeshed Steel Connection (ISC) system, when paired with robotic manipulators, can accelerate steel-frame assembly and improve worker safety by eliminating manual assembly. Dependable perception is one of the initial stages for…
Image-based tracking of medical instruments is an integral part of surgical data science applications. Previous research has addressed the tasks of detecting, segmenting and tracking medical instruments based on laparoscopic video data.…
Reliable monitoring of surgical instrument exchanges is essential for maintaining procedural efficiency and patient safety in the operating room. Automatic detection of instrument handovers in intraoperative video remains challenging due to…
This scientific paper explores two distinct approaches for identifying and approximating the simulation model, particularly in the context of the snap process crucial to medical device assembly. Simulation models play a pivotal role in…
Visual segmentation has seen tremendous advancement recently with ready solutions for a wide variety of scene types, including human hands and other body parts. However, focus on segmentation of human hands while performing complex tasks,…
The ability to localise a smart device is very useful to visually or cognitively impaired people. Localisation-capable technologies are becoming more readily available as off-the-shelf components. In this paper, we highlight the need for…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…