178 citations · 887 across the 50 of their papers we have counts for
15 papers · 1 filter
Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy
Zicong Wu, Chuqian Lou, Zhu Jin +6
Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissu…
Hybrid Data-Driven and Analytical Model for Kinematic Control of a Surgical Robotic Tool
Francesco Cursi, Anh Nguyen, Guang-Zhong Yang
Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities…
Constrained-Space Optimization and Reinforcement Learning for Complex Tasks
Ya-Yen Tsai, Bo Xiao, Edward Johns +1
Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human…
A Single RGB Camera Based Gait Analysis with a Mobile Tele-Robot for Healthcare
Ziyang Wang
With the increasing awareness of high-quality life, there is a growing need for health monitoring devices running robust algorithms in home environment. Health monitoring technolog…
Nonlinearity Compensation in a Multi-DoF Shoulder Sensing Exosuit for Real-Time Teleoperation
Rejin John Varghese, Anh Nguyen, Etienne Burdet +2
The compliant nature of soft wearable robots makes them ideal for complex multiple degrees of freedom (DoF) joints, but also introduce additional structural nonlinearities. Intuiti…
Design and Prototyping of a Bio-inspired Kinematic Sensing Suit for the Shoulder Joint: Precursor to a Multi-DoF Shoulder Exosuit
Rejin John Varghese, Benny P L Lo, Guang-Zhong Yang
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the…
Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries
Zhaoshuo Li, Mahya Shahbazi, Niravkumar Patel +9
High-resolution real-time intraocular imaging of retina at the cellular level is very challenging due to the vulnerable and confined space within the eyeball as well as the limited…
A Robust Regression Approach for Robot Model Learning
Francesco Cursi, Guang-Zhong Yang
Machine learning and data analysis have been used in many robotics fields, especially for modelling. Data are usually the result of sensor measurements and, as such, they might be…
Intraoperative robotic-assisted large-area high-speed microscopic imaging and intervention
Petros Giataganas, Michael Hughes, Christopher J. Payne +3
Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time as…
Robotic Sewing and Knot Tying for Personalized Stent Graft Manufacturing
Yang Hu, Lin Zhang, Wei Li +1
This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an a…
A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts
Bidan Huang, Menglong Ye, Yang Hu +3
This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel…
Real-time 3D Shape Instantiation from Single Fluoroscopy Projection for Fenestrated Stent Graft Deployment
Xiao-Yun Zhou, Jianyu Lin, Celia Riga +2
Robot-assisted deployment of fenestrated stent grafts in Fenestrated Endovascular Aortic Repair (FEVAR) requires accurate geometrical alignment. Currently, this process is guided b…
A Vision-Guided Multi-Robot Cooperation Framework for Learning-by-Demonstration and Task Reproduction
Bidan Huang, Menglong Ye, Su-Lin Lee +1
This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is…
Motion-Compensated Autonomous Scanning for Tumour Localisation using Intraoperative Ultrasound
Lin Zhang, Menglong Ye, Stamatia Giannarou +2
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to…
Autonomous Scanning for Endomicroscopic Mosaicing and 3D Fusion
Lin Zhang, Menglong Ye, Petros Giataganas +2
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the sca…