相关论文: A stiffness sensor to help in the diagnosis and th…
In the face of challenges encountered during femur fracture surgery, such as the high rates of malalignment and X-ray exposure to operating personnel, robot-assisted surgery has emerged as an alternative to conventional state-of-the-art…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system for application to intraluminal surgical procedures. Preclinical testing of STRAS has recently permitted to demonstrate major advantages of the system…
Endometriosis is a common women's condition exhibiting a manifold visual appearance in various body-internal locations. Having such properties makes its identification very difficult and error-prone, at least for laymen and non-specialized…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
In planetary science, surface roughness is regarded to be a measure of surface irregularity at small spatial scales, and causes the thermal-infrared beaming effect (i.e. re-radiation of absorbed sunlight back towards to the Sun). Typically,…
Non-invasive devices involved in the detection of drowsiness generally include infrared camera and Electroencephalography (EEG), of which sometimes are constrained in an actual real-life scenario deployments and implementations such as in…
Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…
Osteoporosis silently erodes skeletal integrity worldwide; however, early detection through imaging can prevent most fragility fractures. Artificial intelligence (AI) methods now mine routine Dual-energy X-ray Absorptiometry (DXA), X-ray,…
The nonrigid alignment between a pre-operative biomechanical model and an intra-operative observation is a critical step to track the motion of a soft organ in augmented surgery. While many elastic registration procedures introduce…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therapeutic tool that facilitates device mediated hand exercises…