Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets [0.03%]
转移学习在下肢假体意图预测中的应用：有限数据集策略
Duong Le,Shihao Cheng,Robert D Gregg et al.
Duong Le et al.
This paper presents a transfer learning method to enhance locomotion intent prediction in novel transfemoral amputee subjects, particularly in data-sparse scenarios. Transfer learning is done with three pre-trained models trained on separat...
Investigating Haptic Feedback in Vision-Deficient Millirobot Telemanipulation [0.03%]
探究视障millirobot遥操作中的触觉反馈
Naveed D Riaziat,Onder Erin,Axel Krieger et al.
Naveed D Riaziat et al.
The evolution of magnetically actuated millirobots gives rise to unique teleoperation challenges due to their non-traditional kinematic and dynamic architectures, as well as their frequent use of suboptimal imaging modalities. Recent invest...
Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature [0.03%]
面向大径间隙和脉冲曲率的套管机器人运动学拓展研究
Zhouyu Zhang,Jia Shen,Junhyoung Ha et al.
Zhouyu Zhang et al.
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large cle...
Peiyao Zhang,Ji Woong Kim,Peter Gehlbach et al.
Peiyao Zhang et al.
Subretinal injection is an effective method for direct delivery of therapeutic agents to treat prevalent subretinal diseases. Among the challenges for surgeons are physiological hand tremor, difficulty resolving single-micron scale depth pe...
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots [0.03%]
基于贝叶斯推理步态估计的强化算法在下肢可穿戴机器人中的应用研究
Ting-Wei Hsu,Robert D Gregg,Gray C Thomas
Ting-Wei Hsu
Lower-limb wearable robots designed to assist people in everyday activities must reliably recover from any momentary confusion about what the user is doing. Such confusion might arise from momentary sensor failure, collision with an obstacl...
Autonomous System for Tumor Resection (ASTR) - Dual-Arm Robotic Midline Partial Glossectomy [0.03%]
自主肿瘤切除系统(ASTR)-双臂机器人中线部分舌切除术
Jiawei Ge,Michael Kam,Justin D Opfermann et al.
Jiawei Ge et al.
Head and neck cancers are the seventh most common cancers worldwide, with squamous cell carcinoma being the most prevalent histologic subtype. Surgical resection is a primary treatment modality for many patients with head and neck squamous ...
Predicting Neuromuscular Engagement to Improve Gait Training with a Robotic Ankle Exoskeleton [0.03%]
预测神经肌肉参与以改善步态训练中的机器人踝外骨骼效果
Karl Harshe,Jack R Williams,Toby D Hocking et al.
Karl Harshe et al.
The clinical efficacy of robotic rehabilitation interventions hinges on appropriate neuromuscular recruitment from the patient. The first purpose of this study was to evaluate the use of supervised machine learning techniques to predict neu...
Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot [0.03%]
COAST导丝机器人同时进行形状和尖端力感应
Nancy J Deaton,Timothy A Brumfiel,Achraj Sarma et al.
Nancy J Deaton et al.
Placement of catheters in minimally invasive cardiovascular procedures is preceded by navigating to the target lesion with a guidewire. Traversing through tortuous vascular pathways can be challenging without precise tip control, potentiall...
Ronghuai Qi,Namrata U Nayar,Jaydev P Desai
Ronghuai Qi
Mitral regurgitation (MR) is the most common type of valvular heart disease, affecting over 2% of the world population, and the gold-standard treatment is surgical mitral valve repair/replacement. Compared to open-heart surgeries, minimally...
Real-time intraoperative surgical guidance system in the da Vinci surgical robot based on transrectal ultrasound/photoacoustic imaging with photoacoustic markers: an ex vivo demonstration [0.03%]
基于经直肠超声/光声成像与光声标记的达芬奇外科机器人实时术中导航系统：离体演示
Hyunwoo Song,Hamid Moradi,Baichuan Jiang et al.
Hyunwoo Song et al.
This paper introduces the first integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic marke...