Showing 2024Show all
2 papers · 1 filter
eess.SP2024
Transformer Based Tissue Classification in Robotic Needle Biopsy
Fanxin Wang, Yikun Cheng, Sudipta S Mukherjee +2
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue…
cs.RO2024
An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals
Chuyuan Tao, Sheng Cheng, Yang Zhao +2
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study,…