相关论文: An Anatomy-specific Guidewire Shaping Robot for Im…
Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to…
Automated patient positioning can improve radiology workflow efficiency by reducing the time required for manual table adjustments and scout-based scan planning. We propose a learning-based framework that predicts 3D organ locations and…
Otologic surgery has some specificities compared to others surgeries. The anatomic working space is small, with various anatomical structures to preserve, like ossicles or facial nerve. This requires the use of microscope or endoscope. The…
Autonomous mechanical thrombectomy (MT) presents substantial challenges due to highly variable vascular geometries and the requirements for accurate, real-time control. While reinforcement learning (RL) has emerged as a promising paradigm…
We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object…
The aim of this work is to use Variational Autoencoder (VAE) to learn a representation of an indoor environment that can be used for robot navigation. We use images extracted from a video, in which a camera takes a tour around a house, for…
Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
X-ray images ease the diagnosis and treatment process due to their rapid imaging speed and high resolution. However, due to the projection process of X-ray imaging, much spatial information has been lost. To accurately provide efficient…
The objective of this paper is to significantly reduce the manual workload required from medical professionals in complex 3D segmentation tasks that cannot be yet fully automated. For instance, in radiotherapy planning, organs at risk must…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
Autonomous microrobots in blood vessels could enable minimally invasive therapies, but navigation is challenged by dense, moving obstacles. We propose a real-time path planning framework that couples an analytic geometry global planner…
Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have…
Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
In spinal vertebral mobility disease, accurately extracting and contouring vertebrae is essential for assessing mobility impairments and monitoring variations during flexion-extension movements. Precise vertebral contouring plays a crucial…
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better…
Recent publications have shown that the segmentation accuracy of modern-day convolutional neural networks (CNN) applied on cardiac MRI can reach the inter-expert variability, a great achievement in this area of research. However, despite…
Advanced navigation techniques in image-guided interventions and surgical robotics require the rapid and precise alignment of 3D preoperative volumes (e.g., CT, MRI) to 2D intraoperative images (e.g., X-ray fluoroscopy). However, existing…
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…