相关论文: Deep-Learning-Based Control of a Decoupled Two-Seg…
Intraoperative navigation in spine surgery demands millimeter-level accuracy. Currently, this is achieved through radiation-intensive intraoperative imaging and bone-anchored markers that are invasive and disrupt surgical workflow.…
This paper tackles the challenge of automatically assessing physical rehabilitation exercises for patients who perform the exercises without clinician supervision. The objective is to provide a quality score to ensure correct performance…
Reliable terrain perception is a critical prerequisite for the deployment of humanoid robots in unstructured, human-centric environments. While traditional systems often rely on manually engineered, single-sensor pipelines, this paper…
Delineation of the cardiac structures from 2D echocardiographic images is a common clinical task to establish a diagnosis. Over the past decades, the automation of this task has been the subject of intense research. In this paper, we…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
Modeling the full-range deformation behaviors of materials under complex loading and materials conditions is a significant challenge for constitutive relations (CRs) modeling. We propose a general encoder-decoder deep learning framework…
Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…
Accurate segmentation of surgical instruments in robotic-assisted surgery is critical for enabling context-aware computer-assisted interventions, such as tool tracking, workflow analysis, and autonomous decision-making. In this study, we…
Endoscopic ultrasound (EUS) imaging has a trade-off between resolution and penetration depth. By considering the in-vivo characteristics of human organs, it is necessary to provide clinicians with appropriate hardware specifications for…
Super-resolution ultrasound imaging (SRUS) is an active area of research as it brings up to a ten-fold improvement in the resolution of microvascular structures. The limitations to the clinical adoption of SRUS include long acquisition…
Intraoperative bleeding during Endoscopic Submucosal Dissection (ESD) poses significant risks, demanding precise, real-time localization and continuous monitoring of the bleeding source for effective hemostatic intervention. In particular,…
Some endoscopic surgeries require a surgeon to hold the endoscope with one hand and the surgical instruments with the other hand to perform the actual surgery with correct vision. Recent technical advances in deep learning as well as in…
Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional quadrupeds, its joint actuators and thrusters enable enhanced…
Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide array of applications, ranging from locomotion to assembly. They…
Parallelizing Gated Recurrent Unit (GRU) networks is a challenging task, as the training procedure of GRU is inherently sequential. Prior efforts to parallelize GRU have largely focused on conventional parallelization strategies such as…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
Segmenting a structural magnetic resonance imaging (MRI) scan is an important pre-processing step for analytic procedures and subsequent inferences about longitudinal tissue changes. Manual segmentation defines the current gold standard in…
Deep learning has shown unprecedented success in a variety of applications, such as computer vision and medical image analysis. However, there is still potential to improve segmentation in multimodal images by embedding prior knowledge via…
Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…