12 accepted papers
Robots performing collaborative, long-horizon dexterity cell micromanipulation tasks are challenging and practically significant, such as stripping intact cell membranes, which is considered as one of the most technically demanding procedures. Imitation learning approach is expected to address the c
Obtaining single cell from tissues is important for intersection of information and bioscience research. In this letter, a robotic framework based on micromanipulation system has been proposed, which can automatically and intelligently cut down single cells intact from tissue sections. The proposed
Tissue deformation in ultrasound (US) imaging leads to geometrical errors when measuring tissues due to the pressure exerted by probes. Such deformation has an even larger effect on 3D US volumes as the correct compounding is limited by the inconsistent location and geometry. This work proposes a pa
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a challenge as unexpected motion decreases the quality of the 3D comp…
This paper proposes a novel dictionary learning approach to detect event anomalities using skeletal information extracted from RGBD video. The event action is represented as several latent action atoms and composed of latent spatial and temporal attributes. We aim to construct a network able to lear…
Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this paper, a novel method is proposed
Acquiring good image quality is one of the main challenges for fully-automatic robot-assisted ultrasound systems (RUSS). The presented method aims at overcoming this challenge for orthopaedic applications by optimizing the orientation of the robotic ultrasound (US) probe, i.e. aligning the central a
Clear Corneal Incision, a challenging step in cataract surgery, and important to the overall quality of the surgery. New surgeons usually spend one full year trying to perfect their incision, but even after such rigorous training deficient incisions can still occur. This paper proposes an autonomous…
Subretinal injection is known to be a complicated task for ophthalmologists to perform, the main sources of difficulties are the fine anatomy of the retina, insufficient visual feedback, and high surgical precision. Image guided robot-assisted surgery is one of the promising solutions that bring sig…
Subretinal injection is a delicate and complex microsurgery, which requires surgeons to inject the therapeutic substance in a pre-operatively defined and intra-operatively updated subretinal target area. Due to the lack of subretinal visual feedback, it is hard to sense the insertion depth during th…
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery is a promising solution that brings significant improvements in outcomes and reduces the physical limitations of human surgeons. However, this t
In this paper, a lightweight central pattern generator(CPG) model is designed for a snake-like robot, to achieve smooth transition of body shape and locomotion speed. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time is designed and com…