- 52
- 34 508
UCSD Advanced Robotics and Controls Lab
United States
เข้าร่วมเมื่อ 5 ม.ค. 2016
This channel features research from the UCSD Advanced Robotics and Control Lab, led by Dr. Michael Yip.
www.ucsdarclab.com
www.ucsdarclab.com
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Env.
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments
Uday Shinde, Nikhil ; Liang, Xiao ; Liu, Fei ; Zhang, Yutong ; Richter, Florian ; Herbert, Sylvia ; Yip, Michael C.
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable manipulation to safely identify and alter tissue attachment (boundary) topology. Due to poor visual acuity and frequent occlusions, surgeons tend to carefully manipulate the tissue in ways that enable inference of the tissue's attachment points without causing unsafe tearing. In a similar fashion, we propose JIGGLE, a framework for estimation and interactive sensing of unknown boundary parameters in deformable surgical environments. This framework has two key components: (1) a probabilistic estimation to identify the current attachment points, achieved by integrating a differentiable soft-body simulator with an extended Kalman filter (EKF), and (2) an optimization-based active control pipeline that generates actions to maximize information gain of the tissue attachments, while simultaneously minimizing safety costs. The robustness of our estimation approach is demonstrated through experiments with real animal tissue, where we infer sutured attachment points using stereo endoscope observations. We also demonstrate the capabilities of our method in handling complex topological changes such as cutting and suturing.
Uday Shinde, Nikhil ; Liang, Xiao ; Liu, Fei ; Zhang, Yutong ; Richter, Florian ; Herbert, Sylvia ; Yip, Michael C.
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable manipulation to safely identify and alter tissue attachment (boundary) topology. Due to poor visual acuity and frequent occlusions, surgeons tend to carefully manipulate the tissue in ways that enable inference of the tissue's attachment points without causing unsafe tearing. In a similar fashion, we propose JIGGLE, a framework for estimation and interactive sensing of unknown boundary parameters in deformable surgical environments. This framework has two key components: (1) a probabilistic estimation to identify the current attachment points, achieved by integrating a differentiable soft-body simulator with an extended Kalman filter (EKF), and (2) an optimization-based active control pipeline that generates actions to maximize information gain of the tissue attachments, while simultaneously minimizing safety costs. The robustness of our estimation approach is demonstrated through experiments with real animal tissue, where we infer sutured attachment points using stereo endoscope observations. We also demonstrate the capabilities of our method in handling complex topological changes such as cutting and suturing.
มุมมอง: 34
วีดีโอ
Low Data, Confidence Aware Image Prediction on Smooth Repetitive Videos using Gaussian Processes
มุมมอง 293 หลายเดือนก่อน
Investigating Low Data, Confidence Aware Image Prediction on Smooth Repetitive Videos using Gaussian Processes Nikhil U. Shinde, Xiao Liang, Florian Richter, Michael C. Yip The ability to predict future states is crucial to informed decision-making while interacting with dynamic environments. With cameras providing a prevalent and information-rich sensing modality, the problem of predicting fut...
Tracking Snake-like Robots in the Wild Using Only a Single Camera
มุมมอง 515 หลายเดือนก่อน
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded sensors or markers, leading to increased complexity, cost, and increased points of failure. Alternatively, deploying an external camera in the environment is...
Robotic manipulation of deformable rope-like objects using differentiable position-based dynamics
มุมมอง 1225 หลายเดือนก่อน
Robot manipulation of rope-like objects is an interesting problem with some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the challenge of building fast and accurate models of deformable materials. While more data-driven approaches have become more popular for finding controllers that learn to ...
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings
มุมมอง 505 หลายเดือนก่อน
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic deformation by adhering to the governing physical constraints and allowing for model prediction and control. However, real soft objects in robotic surgery, su...
BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction with Neural Radiance Fields
มุมมอง 135 หลายเดือนก่อน
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous robotic interventions for minimally invasive surgery. However, previous approaches in this domain have been limited by their modular nature and are confined to s...
AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT
มุมมอง 405 หลายเดือนก่อน
Towards flexible object-centric visual perception, we propose a one-shot instance-aware object keypoint (OKP) extraction approach, AnyOKP, which leverages the powerful representation ability of pretrained vision transformer (ViT), and can obtain keypoints on multiple object instances of arbitrary category after learning from a support image. An off-the-shelf petrained ViT is directly deployed f...
Zero-Shot Constrained Motion Planning Transformers Using Learned Sampling Dictionaries
มุมมอง 785 หลายเดือนก่อน
Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall outside the constraint manifold, or require significant iterative effort to correct. Given this, few solutions exist that present a constraint-satisfying trajec...
Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics and Safety Constraints
มุมมอง 395 หลายเดือนก่อน
Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing and cleaning to textiles and flexible manufacturing. Despite the desire for automated cloth manipulation, the thin-shell dynamics and under-actuation nature of cloth present significant challenges for robots to effecti...
Design & Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robot Motion
มุมมอง 1555 หลายเดือนก่อน
Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However, the stiffness-enabling pressure preloads can form a tradeoff against bearing loading in some rolling diaphragm layouts, and transmission setup can be difficult...
Finding biomechanically safe trajectories for robot manipulation of human body in search and rescue
มุมมอง 735 หลายเดือนก่อน
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and even carrying them out of harm's way, the challenge of repositioning a casualty from its found configuration to one suitable for extraction has not been explici...
Autonomous navigation in unknown environments with sparse bayesian kernel-based occupancy mapping
มุมมอง 285 หลายเดือนก่อน
This article focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small environment but have increasing memory requirements as the environment grows. We propose a fundamentally different approach for occupancy mapping, in which t...
Robotic tool tracking under partially visible kinematic chain: A unified approach
มุมมอง 285 หลายเดือนก่อน
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better perceive the environment being interacted with, there is greater sensitivity to errors in calibration of the base-to-camera transform. A secondary source of un...
ORRN: An ODE-based Network for Deformable Respiratory Motion Estimation With Lung 4DCT Images
มุมมอง 115 หลายเดือนก่อน
Objective: Deformable Image Registration (DIR) plays a significant role in quantifying deformation in medical data. Recent Deep Learning methods have shown promising accuracy and speedup for registering a pair of medical images. However, in 4D (3D time) medical data, organ motion, such as respiratory motion and heart beating, can not be effectively modeled by pair-wise methods as they were opti...
Markerless suture needle pose tracking with robust uncertainty estimation for robotic surgery
มุมมอง 315 หลายเดือนก่อน
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the in-consistency of markerless detections. However, fiducial markers are not practical for real-world applications and can often be occluded from environmental factors in surg...
Image based reconstruction of liquids from 2d surface detections
มุมมอง 235 หลายเดือนก่อน
Image based reconstruction of liquids from 2d surface detections
CRANE: Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity
มุมมอง 615 หลายเดือนก่อน
CRANE: Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Robotic Surgery
มุมมอง 205 หลายเดือนก่อน
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Robotic Surgery
Image-based pose estimation and reconstruction for robot manipulators via differentiable rendering
มุมมอง 895 หลายเดือนก่อน
Image-based pose estimation and reconstruction for robot manipulators via differentiable rendering
Suture thread spline reconstruction from endoscopic images for robotic surgery
มุมมอง 195 หลายเดือนก่อน
Suture thread spline reconstruction from endoscopic images for robotic surgery
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Understanding
มุมมอง 175 หลายเดือนก่อน
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Understanding
NASU--Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots
มุมมอง 715 หลายเดือนก่อน
NASU Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots
Markerless Suture Needle 6D Pose Tracking for Autonomous Minimally Invasive Robotic Surgery
มุมมอง 3853 ปีที่แล้ว
Markerless Suture Needle 6D Pose Tracking for Autonomous Minimally Invasive Robotic Surgery
ARCSnake: Reconfigurable Snake-Like Robot w/ Archimedean Screw Propulsion for Multi-Domain Mobility
มุมมอง 7043 ปีที่แล้ว
ARCSnake: Reconfigurable Snake-Like Robot w/ Archimedean Screw Propulsion for Multi-Domain Mobility
Super deep: A surgical perception framework for robotic tissue manipulation using deep learning
มุมมอง 3933 ปีที่แล้ว
Super deep: A surgical perception framework for robotic tissue manipulation using deep learning
MPC MPNet: Model Predictive Motion Planning Networks under Kinodynamic Constraints
มุมมอง 9283 ปีที่แล้ว
MPC MPNet: Model Predictive Motion Planning Networks under Kinodynamic Constraints
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
มุมมอง 3773 ปีที่แล้ว
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Sim
มุมมอง 1433 ปีที่แล้ว
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Sim
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery
มุมมอง 1083 ปีที่แล้ว
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery
Robust Keypoint Detection and Pose Estimation of Robot with Self-Occlusions via Sim-to-Real Transfer
มุมมอง 5173 ปีที่แล้ว
Robust Keypoint Detection and Pose Estimation of Robot with Self-Occlusions via Sim-to-Real Transfer
The VOLUME is too low.
How does well does it function when hands, sponges,Instruments are in simultaneously in the surgical field?
Is source code and trained models available for non commercial purpose?
Do you work on these topics? Me too, we are looking to do automatic suturing, what do you do?
Is the Waterproof considered?
can you explain all process bro.
I was on the precipice of utilizing this technology in a thoracic cavity model. I was attempting to simulate a true-to-life respiring scenario emulating the basics of a diaphragm with both external and internal costal muscle groups, which I hoped would aid in the return to zero position. Cest la vie, the company burned down and I was laid off. :/
A muscle fiber contracting ... great, this has been done many times over but when will someone attempt to create multi-fiber, multi-layered muscle packages and slap them together onto a jointed support structure along with the circuitry and control logic to make it behave like anything useful.
Because it can't be scaled up with this approach. It's not reliable and its power hungry. Just because it mimick how muscle works, it doesn't mean it works on the same principle as muscles. Unless they create fibers on the microscopic scale that act like real muscles at the energy cost of real muscles it will always be inferior to servo motors that are already very efficient.
I still learning basic but it's so difficult 😂
I really love this video
This is so cool
Cool
Free learning 😎❤️
That's a great study. Without needlessly complicated models. Very insightful, thanks
Hello ! Amazing work ! Good job ! Do you have samples of the code used for the matlab demo ?
Nylon muscle can be faster to actuate in water, yes?.
Great presentation, thank you!
Now we have to make it contract and relax faster
A counter muscle group might aid in this.
Excellent 👌
would be perfect if only it was electrically induced contraction, the need for fans/cooling for quick relaxation is a problem. edit: a problem in most applications where this is better than "traditional" actuators.
for humanoid robot all actuator wires might hide under a polymer skin with liquid based coolant actively circulating inside. like blood vein system of mammals. that would be cool.
@@CagrTunca Why can't we just add a reverse actuator to bring it back to the initial position?
@@akshay.kumar.k you can, you have to first produce the coil as normal, and then coil/twist the coil around a central cylinder and then anneal it. so you end up with a spring/coil made of a smaller coil. you have to choose the right combo of coil directions though. one of the papers on this tech discusses this. the drawback is the diameter ends up being larger because you make a coil of a coil, but at least you reverse the process - heat it up and it expands, cool it down and it contracts.
Why Disney logo there?
Animatronics
They are rich.
Apparently they have a research division
Hi if you sell de fiber ??
I can't believe how space-efficient this technology is