6 citations · 29 across the 16 of their papers we have counts for
5 papers · 1 filter
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…