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09/18/2023
Design and Development of a Novel Soft and Inflatable Tactile Sensing Balloon for Early Diagnosis of Colorectal Cancer Polyps
In this paper, with the goal of addressing the high early-detection miss...
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09/18/2023
A Smart Handheld Edge Device for On-Site Diagnosis and Classification of Texture and Stiffness of Excised Colorectal Cancer Polyps
This paper proposes a smart handheld textural sensing medical device wit...
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05/24/2023
A Novel Concentric Tube Steerable Drilling Robot for Minimally Invasive Treatment of Spinal Tumors Using Cavity and U-shape Drilling Techniques
In this paper, we present the design, fabrication, and evaluation of a n...
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05/24/2023
Towards Biomechanics-Aware Design of a Steerable Drilling Robot for Spinal Fixation Procedures with Flexible Pedicle Screws
Towards reducing the failure rate of spinal fixation surgical procedures...
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04/25/2023
Towards Reliable Colorectal Cancer Polyps Classification via Vision Based Tactile Sensing and Confidence-Calibrated Neural Networks
In this study, toward addressing the over-confident outputs of existing ...
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11/13/2022
Pit-Pattern Classification of Colorectal Cancer Polyps Using a Hyper Sensitive Vision-Based Tactile Sensor and Dilated Residual Networks
In this study, with the goal of reducing the early detection miss rate o...
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11/08/2022
Classification of Colorectal Cancer Polyps via Transfer Learning and Vision-Based Tactile Sensing
In this study, to address the current high earlydetection miss rate of c...
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11/08/2022
HySenSe: A Hyper-Sensitive and High-Fidelity Vision-Based Tactile Sensor
In this paper, to address the sensitivity and durability trade-off of Vi...
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05/05/2020
A Versatile Data-Driven Framework for Model-Independent Control of Continuum Manipulators Interacting With Obstructed Environments With Unknown Geometry and Stiffness
This paper addresses the problem of controlling a continuum manipulator ...
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10/08/2019
Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach
In this paper, we present a synergic learning algorithm to address the t...
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12/20/2018
FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches
Conventional shape sensing techniques using Fiber Bragg Grating (FBG) in...
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07/01/2018
FBG-Based Control of a Continuum Manipulator Interacting With Obstacles
Tracking and controlling the shape of continuum dexterous manipulators (...
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06/30/2018
Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique
Internal fixation is a common orthopedic procedure in which a rigid scre...
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01/22/2018
On The Effect of Vibration on Shape Sensing of Continuum Manipulators Using Fiber Bragg Gratings
Fiber Bragg Grating (FBG) has shown great potential in shape and force s...
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01/21/2018
