相关论文: An Anatomy-specific Guidewire Shaping Robot for Im…

This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…

Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…

An organ shape atlas, which represents the shape and position of the organs and skeleton of a living body using a small number of parameters, is expected to have a wide range of clinical applications, including intraoperative guidance and…

This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within…

Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could…

Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…

Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…

Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…

Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however this does not translate well to space-limited clinical…

Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like…

Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and vessels is quite…

This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…

Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…

In situ tissue biopsy with an endoluminal catheter is an efficient approach for disease diagnosis, featuring low invasiveness and few complications. However, the endoluminal catheter struggles to adjust the biopsy direction by distal…

This paper describes a new model for an artificial neural network processing unit or neuron. It is slightly different to a traditional feedforward network by the fact that it favours a mechanism of trying to match the wave-like 'shape' of…

Ultrasound (US) imaging is increasingly used in spinal procedures due to its real-time, radiation-free capabilities; however, its effectiveness is hindered by shadowing artifacts that obscure deeper tissue structures. Traditional…