3 papers
cs.RO2026
In vivo feasibility study of humanoid robots in surgery
Zekai Liang, Nikita Thareja, Peihan Zhang +7
Recent advances in actuation, control and learning have rapidly pushed humanoid robots from a distant vision towards near-term real-world deployment. Healthcare is a particularly p…
cs.RO2025
Towards Autonomous Tape Handling for Robotic Wound Redressing
Xiao Liang, Lu Shen, Peihan Zhang +3
Chronic wounds, such as diabetic, pressure, and venous ulcers, affect over 6.5 million patients in the United States alone and generate an annual cost exceeding $25 billion. Despi…
cs.RO2025
Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
Peihan Zhang, Florian Richter, Ishan Duriseti +4
Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prol…