相关论文: Humanoid Robots as First Assistants in Endoscopic …
Advanced resuscitative technologies, such as Extra Corporeal Membrane Oxygenation (ECMO) cannulation or Resuscitative Endovascular Balloon Occlusion of the Aorta (REBOA), are technically difficult even for skilled medical personnel. This…
We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for motions with arbitrary contact modes and postures. The…
Surgical robot automation has attracted increasing research interest over the past decade, expecting its potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied intelligence has demonstrated promising…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
The science and clinical practice of medical physics has been integral to the advancement of radiology and radiation therapy for over a century. In parallel, advances in surgery - including intraoperative imaging, registration, and other…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Humanoid robots, particularly NAO, are gaining prominence for their potential to revolutionize human-robot collaboration, especially in domestic settings like kitchens. Leveraging the advantages of NAO, this research explores non-verbal…
Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…
General-purpose robots need a versatile body and an intelligent mind. Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model,…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Reasoning capability has significantly advanced complex logical inference and robotic decision-making in general domains. However, its potential in the Artificial Intelligence (AI) copilot robot-particularly implemented based on the…
Endovascular procedures have revolutionized vascular disease treatment, yet their manual execution is challenged by the demands for high precision, operator fatigue, and radiation exposure. Robotic systems have emerged as transformative…
While AI-assisted colonoscopy promises improved colorectal cancer screening, its success relies on effective integration into clinical practice, not just algorithmic accuracy. This paper, based on an Australian field study (observations and…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-Computer Interfaces (BCIs) exacerbates these problems through especially…
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…
Artificial Intelligence (AI) is gradually changing the practice of surgery with the advanced technological development of imaging, navigation and robotic intervention. In this article, the recent successful and influential applications of…
While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critical role, successful vascular access remains challenging due…