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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…
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
Zhen Zhang, Weinan Wang, Hejia Sun +4
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view percept…
Information-Theoretic Geometry Optimization and Physics-Aware Learning for Calibration-Free Magnetic Localization
Wenxuan Xie, Yuelin Zhang, Qingpeng Ding +4
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges:…
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…
Refined Motion Compensation with Soft Laser Manipulators using Data-Driven Surrogate Models
Yongjun Yan, Qingpeng Ding, Mingwu Li +2
Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions,…