10 accepted papers
Integrating vision-language models (VLMs) into end-to-end (E2E) autonomous driving (AD) systems has shown promise in improving scene understanding. However, existing integration strategies suffer from several limitations: they either struggle to resolve distribution misalignment between reasoning an…
Robot-assisted Natural Orifice Translu-minal Endoscopic Surgery (NOTES) represents a paradigm shift in surgical practice, significantly mini-mizing patient morbidity. However, the variability of inner diameter and the inter-luminal crossing within the luminal tracts lead to challenge for effective r…
In this letter, we propose an algorithm to check conditions of object caging when two fingers are grasping an object in a plane. Object caging is a method of geometrically constraining a movable range of an object by enclosing the object within end-effectors. Caging method has the advantage that an
Continuum robots and soft robots have shown great potential in industrial and medical applications. Sensing the shapes of continuum robots is a challenging but significant problem for enhancing their performance during various tasks. In this letter, we present a novel method to estimate the shapes o
Magnetic field-controlled continuum robots can be steered dexterously within a small dimension. However, their dexterity, generally being restricted to C-shape, is not sufficient for most practical applications, e.g., avoiding obstacles to reach the target region, fixing the tip orientation, or pass
This paper presents a tightly coupled pipeline, which efficiently fuses measurements of LiDAR, camera, IMU, encoder, and GNSS to estimate the robot state and build a map even in challenging situations. The depth of visual features is extracted by projecting the LiDAR point cloud and ground plane int…
Endometrial regeneration surgery is a new therapy for intrauterine adhesion (IUA). However, existing instruments lacking dexterity and compliance are with difficulty to successfully perform the tasks of generating transplant wounds and transplanting stem cells during endometrial regeneration surgery…
In recent years, many excellent SLAM methods based on cameras, especially the camera-IMU fusion (VIO), have emerged, which has greatly improved the accuracy and robustness of SLAM. However, we find through experiments that most of the existing VIO methods perform well on drones or drone datasets, bu…
Electrical isolation using the ablation catheter has been widely used as the golden standard for the treatment of atrial fibrillation. Clinical practice shows that the tip orientation affects the formation of the effective lesion size. However, the traditional unidirectional or bidirectional cathete
S shape dexterous continuum manipulators (DCMs) are preferred in minimally invasive surgeries for better steerability towards a target and obstacles avoidance capability. Current ways of realizing S shapes need to combine multi-bending segments which need to control the different segment separately.…