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cs.RO2026
Multimodal Adaptive Control for Safe Robotic Craniotomy Under Partial Observability
Xiao Zhang, Jiaxuan Li, Renzhen Le +9
Autonomous robotic craniotomy requires continuous regulation of tool-tissue interactions to mitigate mechanical overload and thermal damage while maintaining surgical efficiency. H…
cs.RO2026
Human-Inspired Framework for Robotic Craniotomy: Integrating Multimodal Fusion and Adaptive Trajectory Adjustment
Renzhen Le, Xiao Zhang, Di Wu +5
Manual craniotomy is a high-risk, skill-dependent procedure associated with surgeon fatigue and potential dural injury. While robotic approaches have improved safety, existing open…
cs.RO2024
Robust Path Planning via Learning from Demonstrations for Robotic Catheters in Deformable Environments
Zhen Li, Chiara Lambranzi, Di Wu +5
Objective: Navigation through tortuous and deformable vessels using catheters with limited steering capability underscores the need for reliable path planning. State-of-the-art pat…