12 accepted papers
Endoscopic submucosal dissection (ESD) is an effective technique to resect early cancers in the gastrointestinal (GI) tract. Bimanual telerobotic manipulation is an approach to performing ESD intuitively and efficiently, which requires two robotic instruments with flexibility, stiffness, dexterity a…
Large language model (LLM) leads to a surge of autonomous GUI agents for smartphone, which completes a task triggered by natural language through predicting a sequence of actions of API. Even though the task highly relies on past actions and visual observations, existing studies typically consider l…
Precise and smooth control of an electromagnetic actuated micropositioner is a challenging task due to the system's nonlinear electromagnetic dynamics, as well as its unique structure and application scenarios. The main challenges include high-order nonlinearity, modeling uncertainties, input buffet
Surface vibration tactile feedback is capable of conveying various semantic information to humans via handheld electronic devices, such as smartphones, touch panels, and game controllers. However, covering the entire contacting surface of the device with a dense arrangement of actuators can affect i…
This paper proposes BPNet, a novel end-to-end deep learning framework to learn Bézier primitive segmentation on 3D point clouds. The existing works treat different primitive types separately, thus limiting them to finite shape categories. To address this issue, we seek a generalized primitive segmen…
Parameter uncertainties and fluctuated disturbances have brought great difficulties to the smooth and precise control of robot manipulators in some industrial environments. To address these challenges, a robust adaptive sliding mode controller is proposed in this work for accurate control of the rob
Robot-assisted gastrointestinal endoscopic surgery (GES) as a kind of natural orifice transluminal endoscopic surgery (NOTES) is the next-generation minimally invasive surgery (MIS). Besides, rendering certain autonomy to a Gas-trointestinal Endoscopic Surgical Robot (GESR) is promising but highly c…
Many real-world ubiquitous applications, such as parking recommendations and air pollution monitoring, benefit significantly from accurate long-term spatio-temporal forecasting (LSTF). LSTF makes use of long-term dependency structure between the spatial and temporal domains, as well as the contextua…
This letter presents a miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery, such as the endoscopic submucosal dissection (ESD). The manipulator comprises hollow modules with holes in the sidewall, compact with a 4 mm diameter, and dexterous with s
This paper presents a modular and reconfigurable mini-robotic system with 5 degrees of freedom (DoFs) towards minimally invasive surgery (MIS). The mini-robotic system consists of two modules, a 2-DoFs rotational end-effector, and a 3-DoFs positioning platform. The 2-DoFs rotational end-effector is…
Brain needle intervention is a specific diagnosis and therapy procedure in brain disorders, such as brain tumors and Parkinson’s disease. Preoperative needle path planning is a vital step to guarantee the patient’s safety and reduce lesions. For positioning accuracy in the CT/MRI environment, we hav…
This letter presents a robotic hand with modular antagonistic fingers and adhesive soft modulations for general purposes with grasping and manipulation capabilities. The anthropomorphic design includes the hand-like configuration, modular antagonistic fingers, soft modulations, compliant joints, and