4 papers
Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots
Hiu Ching Cheung, Wenchao Yue, Zhengran Han +4
Tracheostomy requires precise localization of the tracheal incision site; however, conventional manual palpation is subjective and often unreliable, while ultrasound utility remain…
PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation
Devi Yuliarti, Ravi Prakash, Hiu Ching Cheung +3
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Th…
Aerial Grasping with Soft Aerial Vehicle Using Disturbance Observer-Based Model Predictive Control
Hiu Ching Cheung, Bailun Jiang, Yang Hu +3
Aerial grasping, particularly soft aerial grasping, holds significant promise for drone delivery and harvesting tasks. However, controlling UAV dynamics during aerial grasping pres…
A Modular Pneumatic Soft Gripper Design for Aerial Grasping and Landing
Hiu Ching Cheung, Ching-Wei Chang, Bailun Jiang +2
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful m…