Design of a Low-Cost Miniature Robot to Assist the COVID-19 Nasopharyngeal Swab Sampling [0.03%]
用于辅助COVID-19鼻咽拭子采样的低成本微型机器人设计
Shuangyi Wang,Kehao Wang,Ruijie Tang et al.
Shuangyi Wang et al.
Nasopharyngeal (NP) swab sampling is an effective approach for the diagnosis of coronavirus disease 2019 (COVID-19). Medical staffs carrying out the task of collecting NP specimens are in close contact with the suspected patient, thereby po...
James W Martin,Lavinia Barducci,Bruno Scaglioni et al.
James W Martin et al.
Magnetically actuated endoscopes are currently transitioning in to clinical use for procedures such as colonoscopy, presenting numerous benefits over their conventional counterparts. Intelligent and easy-to-use control strategies are an ess...
Toward Practical and Accurate Touch-Based Image Guidance for Robotic Partial Nephrectomy [0.03%]
面向实际且准确的基于触控的图像引导的机器人部分肾切除术
James M Ferguson,E Bryn Pitt,Andria A Remirez et al.
James M Ferguson et al.
Partial nephrectomy involves removing a tumor while sparing surrounding healthy kidney tissue. Compared to total kidney removal, partial nephrectomy improves outcomes for patients but is underutilized because it is challenging to accomplish...
Deep generative models with data augmentation to learn robust representations of movement intention for powered leg prostheses [0.03%]
数据增强深度生成模型，用于学习假肢运动意图的稳健表征
Blair Hu,Ann M Simon,Levi Hargrove
Blair Hu
Intent recognition is a data-driven alternative to expert-crafted rules for triggering transitions between pre-programmed activity modes of a powered leg prosthesis. Movement-related signals from prosthesis sensors detected prior to movemen...
Self-supervised Monocular Depth Estimation with 3D Displacement Module for Laparoscopic Images [0.03%]
基于三维位移模块的腹腔镜图像自监督单目深度估计方法
Chi Xu,Baoru Huang,Daniel S Elson
Chi Xu
We present a novel self-supervised training framework with 3D displacement (3DD) module for accurately estimating per-pixel depth maps from single laparoscopic images. Recently, several self-supervised learning based monocular depth estimat...
Simultaneous Depth Estimation and Surgical Tool Segmentation in Laparoscopic Images [0.03%]
腹腔镜图像中的深度估计和手术工具分割同时进行
Baoru Huang,Anh Nguyen,Siyao Wang et al.
Baoru Huang et al.
Surgical instrument segmentation and depth estimation are crucial steps to improve autonomy in robotic surgery. Most recent works treat these problems separately, making the deployment challenging. In this paper, we propose a unified framew...
Force-based Control for Safe Robot-assisted Retinal Interventions: In Vivo Evaluation in Animal Studies [0.03%]
基于力的控制在动物实验中的应用以实现安全的机器人辅助视网膜干预
Niravkumar Patel,Muller Urias,Ali Ebrahimi et al.
Niravkumar Patel et al.
In recent years, robotic assistance in vitreoretinal surgery has moved from a benchtop environment to the operating rooms. Emerging robotic systems improve tool manoeuvrability and provide precise tool motions in a constrained intraocular e...
Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing [0.03%]
变坡行走和爬楼梯之间的过渡运动学模型研究
Shihao Cheng,Edgar Bolívar-Nieto,Cara Gonzalez Welker et al.
Shihao Cheng et al.
Although emerging powered prostheses can enable people with lower-limb amputation to walk and climb stairs over different task conditions (e.g., speeds and inclines), the control architecture typically uses a finite-state machine to switch ...
Towards Real-time pose estimation of the Mitral Valve Robot under C-arm X-ray Fluoroscopy [0.03%]
基于C形臂X光透视的二尖瓣机器人孔实时位姿估计方法研究
Sharan R Ravigopal,Namrata U Nayar,Jaydev P Desai
Sharan R Ravigopal
Mitral regurgitation (MR) is a condition caused by a deformity in the mitral valve leading to the backflow of blood into the left atrium. MR can be treated through a minimally invasive procedure and our lab is currently developing a robot t...
Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses [0.03%]
用于感染尸体安全尸检的机器人组织取样技术
Maximilian Neidhardt,Stefan Gerlach,Robin Mieling et al.
Maximilian Neidhardt et al.
In pathology and legal medicine, the histopathological and microbiological analysis of tissue samples from infected deceased is a valuable information for developing treatment strategies during a pandemic such as COVID-19. However, a conven...