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09/18/2023
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery
Robotic surgical subtask automation has the potential to reduce the per-...
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05/08/2023
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects
Applications in fields ranging from home care to warehouse fulfillment t...
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02/14/2023
Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications
Microsurgery is a particularly impactful yet challenging form of surgery...
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11/29/2022
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning
Tendon-driven robots, where one or more tendons under tension bend and m...
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11/04/2022
Autonomous Medical Needle Steering In Vivo
The use of needles to access sites within organs is fundamental to many ...
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10/15/2021
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots
Tendon-driven robots, a type of continuum robot, have the potential to r...
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10/12/2021
Planning Sensing Sequences for Subsurface 3D Tumor Mapping
Surgical automation has the potential to enable increased precision and ...
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10/10/2021
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds
If robots could reliably manipulate the shape of 3D deformable objects, ...
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07/16/2021
DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation
In this paper, we propose a novel approach to 3D deformable object manip...
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01/13/2021
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering
Steerable needles are a promising technology for delivering targeted the...
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01/08/2021
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls
Despite years of research into patient falls in hospital rooms, falls an...
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01/06/2021
A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles
Steerable needles are capable of accurately targeting difficult-to-reach...
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07/01/2019
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Inspection planning, the task of planning motions that allow a robot to ...
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04/29/2019