9 accepted papers
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under fluoroscopic imaging, which provides low framerate and noisy p…
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like suturing is accurately modeling the suture thread, a highly flexible and compliant component. Existing models either lack the
Human-Swarm Interaction (HSI) is a fast-growing research area in swarm robotics. One challenging aspect of HSI is facilitating effective handling of the many degrees-of-freedom present in robot swarms by humans. One emergent option is the use of Augmented Reality (AR) systems to encode information.…
Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe surgical operations and accurate state control. Dipole field est
This paper presents a distributed interactive framework to provide high-level position instructions for multi-robot aerial cinematography based on coverage over a hemisphere. The control strategy based on optimization of the coverage functional and geometric relationships over a hemisphere is presen…
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potentia…
This paper addresses the problem of a domain becoming non-convex while using coverage control of a multirobot system over time-varying domains. When the domain moves around in the workspace, its motion and the presence of obstacles might cause it to deform into some non-convex shape, and the robot t…
This paper proposes a magnetic needle steering controller to manipulate mesoscale magnetic suture needles for executing planned suturing motion. This is an initial step towards our research objective: enabling autonomous control of magnetic suture needles for suturing tasks in minimally invasive sur…
This letter investigates how mobile agents with qualitatively different sensing capabilities should be organized in order to effectively cover an area. In particular, by encoding the different capabilities as different density functions in the locational cost, the result is a heterogeneous coverage