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cs.RO2026
Modeling and Control of a Pneumatic Soft Robotic Catheter Using Neural Koopman Operators
Yiyao Yue, Noah Barnes, Lingyun Di +4
Catheter-based interventions are widely used for the diagnosis and treatment of cardiac diseases. Recently, robotic catheters have attracted attention for their ability to improve…
cs.RO2025
AURA-CVC: Autonomous Ultrasound-guided Robotic Assistance for Central Venous Catheterization
Deepak Raina, Lidia Al-Zogbi, Brian Teixeira +6
Purpose: Central venous catheterization (CVC) is a critical medical procedure for vascular access, hemodynamic monitoring, and life-saving interventions. Its success remains challe…
cs.RO2025
Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms
Lidia Al-Zogbi, Deepak Raina, Vinciya Pandian +2
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critica…