相关论文: A stiffness sensor to help in the diagnosis and th…
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…
The brain deformation that occurs during neurosurgery is a serious issue impacting the patient "safety" as well as the invasiveness of the brain surgery. Model-driven compensation is a realistic and efficient solution to solve this problem.…
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…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…
Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion…
Epidural analgesia involves injection of anesthetics into the epidural space, using a Touhy needle to proceed through the layers in the epidural region and a "loss of resistance" (LOR) syringe to sense the environment stiffness. The…
Abstract Background During percutaneous puncture robotic surgical navigation, the needle insertion point is positioned on the patient's chest and abdomen body surface. By locating any point on the soft skin tissue, it is difficult to apply…
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…
Context. Earlier work suggests that slowly rotating asteroids should have higher thermal inertias than faster rotators because the heat wave penetrates deeper into the sub-surface. However, thermal inertias have been determined mainly for…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
The intracavity power, and hence sensitivity, of optomechanical sensors is commonly limited by parametric instability. Here we characterize the parametric instability induced sensitivity degradation in a micron scale cavity optomechanical…
3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…
Osteoporosis is a common disease that increases fracture risk. Hip fractures, especially in elderly people, lead to increased morbidity, decreased quality of life and increased mortality. Being a silent disease before fracture, osteoporosis…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…
Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
Sensory feedback is critical to the performance of neural prostheses that restore movement control after neurological injury. Recent advances in direct neural control of paralyzed arms present new requirements for miniaturized, low-power…
It has been predicted and experimentally demonstrated that by injecting squeezed light into an optomechanical device it is possible to enhance the precision of a position measurement. Here, we present a fundamentally different approach…