6 citations · 29 across the 16 of their papers we have counts for
16 papers
Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception
Gang Zhang, Yufu Qiu, Junyan Yan +3
Shape and force sensing have long been critical bottlenecks in the development of compact capstan-driven continuum surgical robots, primarily due to the difficulty of obtaining cab…
Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness
Jiewen Tan, Junnan Xue, Shing Shin Cheng +3
Achieving both efficient pushability (propulsion transmission) and proximally concentrated bending for steerability is challenging for magnetically actuated soft catheters: higher…
A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking
Yuelin Zhang, Qingpeng Ding, Longxiang Tang +2
Ultrasound (US)-guided needle insertion is a critical yet challenging procedure due to dynamic imaging conditions and difficulties in needle visualization. Many methods have been p…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing
Gang Zhang, Junyan Yan, Jibiao Chen +1
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical…
MrTrack: Register Mamba for Needle Tracking with Rapid Reciprocating Motion during Ultrasound-Guided Aspiration Biopsy
Yuelin Zhang, Qingpeng Ding, Long Lei +3
Ultrasound-guided fine needle aspiration (FNA) biopsy is a common minimally invasive diagnostic procedure. However, an aspiration needle tracker addressing rapid reciprocating moti…
MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking
Yuelin Zhang, Long Lei, Wanquan Yan +3
Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US imaging presents challenges…
Refined Motion Compensation with Soft Laser Manipulators using Data-Driven Surrogate Models
Yongjun Yan, Qingpeng Ding, Mingwu Li +2
Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions,…
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
Yiang Lu, Bin Li, Wei Chen +6
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However,…
Quaternion-Based Attitude Stabilization Using Synergistic Hybrid Feedback With Minimal Potential Functions
Xin Tong, Qingpeng Ding, Haiyang Fang +1
This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback wit…
Motion-Guided Dual-Camera Tracker for Endoscope Tracking and Motion Analysis in a Mechanical Gastric Simulator
Yuelin Zhang, Kim Yan, Chun Ping Lam +5
Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker…
A Unified Framework for Microscopy Defocus Deblur with Multi-Pyramid Transformer and Contrastive Learning
Yuelin Zhang, Pengyu Zheng, Wanquan Yan +2
Defocus blur is a persistent problem in microscope imaging that poses harm to pathology interpretation and medical intervention in cell microscopy and microscope surgery. To addres…
Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking
Xin Tong, Shing Shin Cheng
Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit -sphere typically involve the non-centrally synergistic hybrid…
Synergistic Potential Functions from Single Modified Trace Function on SO(3)
Xin Tong, Shing Shin Cheng
This paper is about the construction of a family of centrally synergistic potential functions from a single modified trace function on SO(3). First, we demonstrate that it is possi…
Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling
Wei Chen, Jianshu Zhou, Shing Shin Cheng +7
The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for vi…
Towards Safe Control of Continuum Manipulator Using Shielded Multiagent Reinforcement Learning
Guanglin Ji, Junyan Yan, Jingxin Du +5
Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject t…