5 accepted papers
Colonoscopy is a medical procedure used to examine the inside of the colon for abnormalities, such as polyps or cancer. Traditionally, this is done by manually inserting a long, flexible tube called a colonoscope into the colon. However, this method can cause pain, discomfort, and even the risk of p…
Microgrippers have emerged in minimally invasive surgery and biomedical applications, enabling tasks such as gripping, micro-assembly, and cell manipulation. Realizing microgrippers with multiple degrees-of-freedom (DoFs) enables higher dexterity and multi-functionality. However, due to their small
Accurate 3D reconstruction of hands and instruments is critical for vision-based analysis of ophthalmic microsurgery, yet progress has been hampered by the lack of realistic, large-scale datasets and reliable annotation tools. In this work, we introduce OphNet-3D, the first extensive RGB-D dynamic 3…
This letter introduces a novel hybrid manipulator composed of two pneumatically-actuated soft segments and a tendon-driven continuum segment, connected in series. The soft segments enhance the mobility of the tendon-driven manipulator, enabling functionalities such as triangulation while maintaining
Many applications of robotic motion planning benefit from considering multiple homotopically distinct paths rather than a single path from start to goal. However, determining whether paths represent different homotopy classes can be difficult to compute. We propose metrics for efficiently approximat…