5 accepted papers
The sampling-based motion planners, including the Rapidly-exploring Random Trees (RRT) algorithms, are widely utilized in continuum robots, enabling efficient search for feasible motion plans in constrained environments. In surgical robotics, complex mapping among the high-dimensional kinematics of
Ultrasound (US) is widely used in image-guided needle procedures. Correctly tracking the needle tip position in US images during the procedure plays an important role in improving the needle targeting accuracy and patient safety. This paper presents a leaning-based visual tracking network with a Sia…
Transoral robotic surgery (TORS) in upper aerodigestive tract remains challenging due to the rigidity and insufficient workspace of existing instruments, and inappropriate balance between compliance and stiffness in flexible instruments. In this letter, a flexible surgical robotic instrument, featur
Ultrasound (US) is commonly used in percutaneous needle procedures for real-time guidance. Accurate and robust automatic needle tracking is highly desirable to address the influence of noise and artifacts in US images. This letter presents a tracking approach which combines an improved compressive t
Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that