13 papers
EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition
Nuo Chen, Kangqi Ni, Lulin Liu +5
Dense 3D reconstruction is critical for clinical endoscopic navigation and documentation. While Gaussian Splatting SLAM systems show promise in this domain, they fundamentally rely…
Geometry-Aware Visual Odometry for Bronchoscopic Navigation via High-Gain Observer Fusion
Mohammadreza Kasaei, Francis Xiatian Zhang, Feng Li +3
Navigational bronchoscopy is critical for pulmonary interventions, yet current platforms depend heavily on pre-operative CT or external sensors, limiting their use in critical care…
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…
SE3Kit: A Lightweight Python Library for Specialized Geometric Primitives in Robotics
Daniyal Maroufi, Omid Rezayof, Farshid Alambeigi
The Python robotics ecosystem faces a challenge: while many libraries exist for rigid body transformations, few are both lightweight and mathematically strict. This paper introduce…
OpenRC: An Open-Source Robotic Colonoscopy Framework for Multimodal Data Acquisition and Autonomy Research
Siddhartha Kapuria, Mohammad Rafiee Javazm, Naruhiko Ikoma +4
Colorectal cancer screening critically depends on colonoscopy, yet existing platforms offer limited support for systematically studying the coupled dynamics of operator control, in…
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots
Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi +4
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditio…