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cs.RO2025
DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation
Pedram Fekri, Majid Roshanfar, Samuel Barbeau +5
Cardiac catheterization remains a cornerstone of minimally invasive interventions, yet it continues to rely heavily on manual operation. Despite advances in robotic platforms, exis…
cs.CV2025
TransForSeg: A Multitask Stereo ViT for Joint Stereo Segmentation and 3D Force Estimation in Catheterization
Pedram Fekri, Mehrdad Zadeh, Javad Dargahi
Recently, the emergence of multitask deep learning models has enhanced catheterization procedures by providing tactile and visual perception data through an end-to-end architecture…