6 accepted papers
Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical datasets with precise depth annotations. While existing self…
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing methods often rely on multi-stage pipelines that separate obje…
In endoluminal surgeries, inserting a flexible endo-scope is one of the fundamental procedures. During this process, vision remains the primary feedback, while the perception of tactile magnitude and location is insufficient. This limitation can hinder the clinician's efficiency when navigating the
A cable-driven soft robot with redundancy can perform the tip trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking with a designated tip orientation, or avoiding obstacles in the environment. These constraints require proper motion planning of the soft mater
Dynamic Movement Primitives (DMP) are widely applied in movement representation due to their ability to encode tasks using generalization properties. However, the coupled multiple DMP generalization cannot be directly solved based on the original DMP formula. Prior works provide satisfactory perform
The ability to patterning cells is an important technique to facilitate cell-based assay and characterization. In this paper, an automated cell patterning system was developed for the fabrication of large-scale cell patterns. To resolve the challenge of the limited printable area, the cell-printing…