Motion Planning of Flexible Manipulators by Learning from Human Expert Demonstrations

Abstract Motion Planning of Multiple-segment flexible soft, and continuum Flexible Manipulators by Learning from Human Expert Demonstrations Multiple-segment flexible and soft robotic actuators exhibit compliance but suffer from the difficulty of path planning due to their redundant degrees of freedom, although they are promising in complex tasks such as crossing body cavities to grasp objects. We propose a learning from … Continue reading

Statistical Humerus Implants and Associated Intramedullary Robotics

Project Goals The sizes of current off-the-shelf humerus implants are unable to accommodate Asian patients since they are mainly produced for American and European populations according to locally collected data. By creating statistical humerus atlases based on Asian data, gender-specific and region-specific humeral implants can be developed by considering the characteristics of the statistical atlas constructed in order to improve … Continue reading

Ablation Planning in Computer-Assisted Interventions

Project Goals Tumor ablation is the removal of tumor tissue and is considered as one type of minimally invasive interventions. It can be performed using techniques like cryoablation, high-intensity focused ultrasound (HIFU), and radiofrequency ablation (RFA). These techniques rely on minimally invasive principles to ablate tumor tissues, without having to directly expose the target regions to the environment. It has … Continue reading

Planning and Navigation for Percutaneous Ablations

Project Goals Two challenges are mostly clinical concerns in tumor ablation — the size of the tumor and accessibility to the probes. Multiple overlapping ablations need to be planned to cover irregular and oversize tumors through a series of single probe ablations. In the meantime, the planned ablations should be accessible by the needle-based probe and should avoid critical healthy … Continue reading

Biomedical Application of Wireless Heterogeneous Sensor Networks

We study a typical heterogeneous network, a Wireless Biomedical Sensor Network (WBSN), as it consists of various types of biosensors to monitor different physiological parameters. WBSN will help to enhance medical services with its unique advantages in long-term monitoring, easy network deployment, wireless connections, and ambulatory capabilities. The network protocol plays an important role in carrying out the medical and … Continue reading