18 accepted papers
Continuum robots employed in flexible gastrointestinal endoscopy require the capability of transitioning between the flexible and the rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. Besides, thes…
This work introduces a novel compact 7-degree-of-freedom (7-DOF) microsurgical robot with position-orientation decoupling capacity for microvascular anastomosis. The proposed system employs a modular architecture combining a proximal displacement platform for 3D small-stroke translation and a distal…
This work introduces a novel compact 7-degree-of freedom (7-DOF) microsurgical robot with position-orientation decoupling capacity for microvascular anastomosis. The proposed system employs a modular architecture combining a proximal displacement platform for 3D small-stroke translation and a distal
Segment Anything Model (SAM) exhibits remarkable zero-shot segmentation capability; however, its prohibitive computational costs make edge deployment challenging. Although post-training quantization (PTQ) offers a promising compression solution, existing methods yield unsatisfactory results when app
Continuum robots in flexible gastrointestinal endoscopy require transitioning between flexible and rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. These materials are commonly fabricated as simpl
Magnetic levitation control provides a promising solution for wireless capsule endoscopy by minimizing tissue pressure and reducing patient discomfort and risks. Compared to electromagnetic actuation systems, using permanent magnets as the actuation source provides stronger magnetic fields at a lowe
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo implementation. This paper introduces a novel flow-aware na
Training a language model to be both helpful and harmless requires careful calibration of refusal behaviours: Models should refuse to follow malicious instructions or give harmful advice (e.g."how do I kill someone?"), but they should not refuse safe requests, even if they superficially resemble uns…
Colon endoscopic robots represent a promising screening modality for the visualization of colon cancers with high sensitivity. However, current colonoscopy robots are often characterized by intricate and bulky mechanical structures, which pose practical challenges when moving through the complex and…
The open-ended nature of language generation makes the evaluation of autoregressive large language models (LLMs) challenging. One common evaluation approach uses multiple-choice questions to limit the response space. The model is then evaluated by ranking the candidate answers by the log probability…
Capsule endoscopic robot holds great promise for the early diagnosis of gastrointestinal diseases without causing discomfort to patients. However, currently available active capsule endoscopic robots suffer from issues such as complex structure, poor mobility, large size, and high cost, which have h…
Helical microrobots are envisioned for biomedical applications due to their capability of performing complex maneuvers required for a variety of on-demand tasks in biofluidic environments. Understanding the hydrodynamic interactions between helical microrobots and the surrounding fluid is crucial fo
Magnetic helical microrobots driven by low-strength rotating magnetic fields have found wide applications, particularly in biomedical research. The motion dynamics of magnetic helical microrobots is critical for their intelligent control and for performing tasks in complex environments. These micror
High precision manipulation and optimization of actuation current are major concerns in the design of magnetic manipulation systems. In this paper, a flexible magnetic field mapping model has been employed to determine the field distribution of a compact electromagnetic manipulation system in 3D spa
Magnetic manipulation provides a versatile, remote, noninvasive, and cost-effective strategy in a variety of applications. Till now, many different configurations of magnetic manipulation systems have been developed to address different needs on force, torque, accuracy, and accessibilities. Magnetic…
ICSI (Intracytoplasmic sperm injection) is one of the most effective treatments for severe male infertility. During the implementation of the ICSI, it is necessary to perform the three-dimensional positioning of the tip of the glass injection micropipette. At present, the process is mainly controlle…
Particle tracking has emerged as a powerful tool for investigating the swarm control of microrobots and the dynamic biological processes in the life sciences. In seed plants, pollen tubes, a part of the male gametophyte, are excellent models for understanding plant growth and cellular behavior, beca…
Helical structure assembled by hydrogel microfibers is significant for culture of smooth muscle cells. However, the helical structure is only fabricated at the macroscale, while the fabrication of helical microstructure is still a challenge due to the lack of assembly method. In this paper, we propo…