5 papers
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
Zhefeng Huang, Yilin Cai, Ankit Patel +3
Imitation learning has shown increasing promise for autonomous robotic surgery, yet safe deployment remains challenging due to the safety-critical nature of surgical tasks and the…
Dexterous Intramyocardial Needle Ablation (d-INA): Design, Fabrication, and In-Vivo Validation
Chang Zhou, Charles P. Hong, Yifan Wang +4
Radiofrequency ablation is widely used to prevent ventricular tachycardia (VT) by creating lesions to inhibit arrhythmias; however, the current surface ablation catheters are limit…
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…
MR-conditional Robotic Actuation of Concentric Tendon-Driven Cardiac Catheters
Yifan Wang, Zheng Qiu, Junichi Tokuda +3
Atrial fibrillation (AF) and ventricular tachycardia (VT) are two of the sustained arrhythmias that significantly affect the quality of life of patients. Treatment of AF and VT oft…
Kinetostatic Path Planning for Continuum Robots By Sampling on Implicit Manifold
Yifan Wang, Yue Chen
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environ…