Toward image-guided automated suture grasping under complex environments: A learning-enabled and optimization-based holistic framework
To realize a higher-level autonomy of surgical knot tying in minimally invasive surgery (MIS),
automated suture grasping, which bridges the suture stitching and looping procedures, is an …
automated suture grasping, which bridges the suture stitching and looping procedures, is an …
Automated hooking of biomedical microelectrode guided by intelligent microscopic vision
Biomedical microelectrode implantation is a promising approach to achieve invasive brain-
machine interface with high bandwidth and good biocompatibility. However, it is difficult to …
machine interface with high bandwidth and good biocompatibility. However, it is difficult to …
Camera orientation optimization in stereo vision systems for low measurement error
Stereo vision (SV) is widely used for noncontact three-dimensional industrial measurement.
In SV systems, camera orientation (the angles formed by the two cameras optical axes …
In SV systems, camera orientation (the angles formed by the two cameras optical axes …
A unified monocular camera-based and pattern-free hand-to-eye calibration algorithm for surgical robots with RCM constraints
With progressive advancements in modern technologies, image-guided automation, which
plans and manipulates particular tasks by utilizing visual cues, is becoming an emerging …
plans and manipulates particular tasks by utilizing visual cues, is becoming an emerging …
A learning-driven framework with spatial optimization for surgical suture thread reconstruction and autonomous grasping under multiple topologies and environmental …
Surgical knot tying is one of the most fundamental and important procedures in surgery, and
a high-quality knot can significantly benefit the postoperative recovery of the patient …
a high-quality knot can significantly benefit the postoperative recovery of the patient …
Robotic Scene Segmentation with Memory Network for Runtime Surgical Context Inference
Surgical context inference has recently garnered significant attention in robot-assisted
surgery as it can facilitate workflow analysis, skill assessment, and error detection. However …
surgery as it can facilitate workflow analysis, skill assessment, and error detection. However …
A learning approach for suture thread detection with feature enhancement and segmentation for 3-D shape reconstruction
A vision-based system presents one of the most reliable methods for achieving an
automated robot-assisted manipulation associated with surgical knot tying. However, some …
automated robot-assisted manipulation associated with surgical knot tying. However, some …
A mechanism-image fusion approach to calibration of an ultrasound-guided dual-arm robotic brachytherapy system
Implementation of robotic systems has significantly improved the flexibility and accuracy of
prostate brachytherapy. In our previous study, an ultrasound (US) guided dual-arm robotic …
prostate brachytherapy. In our previous study, an ultrasound (US) guided dual-arm robotic …
A laser-guided solution to manipulate mobile robot arm terminals within a large workspace
F Li, Y Jiang, T Li - IEEE/ASME Transactions on Mechatronics, 2020 - ieeexplore.ieee.org
Globally accurate manipulation and localization of the terminal of a mobile robot arm within
a large workspace has always been a bottleneck problem. In this article, a planar-laser …
a large workspace has always been a bottleneck problem. In this article, a planar-laser …
A method for a compliant robot arm to perform a bandaging task on a swaying arm: A proposed approach
Bandaging is a regular and indispensable nursing task in daily medical care. The task is
challenging for robots because it requires simultaneous control of the bandaging trajectory …
challenging for robots because it requires simultaneous control of the bandaging trajectory …