Mahdi Tavakoli
Mahdi Tavakoli
  • Видео 123
  • Просмотров 30 564
A Novel Approach for Precise Tissue Tracking in Breast Lumpectomy
One of the most common cancers among women
is breast cancer which can be treated surgically in the
early stages with a lumpectomy technique. In the context of
breast lumpectomy procedures, accurately tracking tumours
presents a critical challenge worsened by various sources of
anatomical deformations, including breathing, tissue cutting,
and ultrasound probe pressure. To address this, we explore
how a realistic tissue deformation simulator can enhance the
precision of locating internal targets by accurately assessing
the deformation applied to a preoperative model of the breast,
considering the distinct mechanical properties of both the breast
tissue and the tumour within it. Our method uses advance...
Просмотров: 85

Видео

Optimal Integration of Hybrid FES-Exoskeleton for Precise Knee Trajectory Control
Просмотров 37Месяц назад
This paper introduces a novel hybrid torque allocation method for improving wearability and mobility in integrated functional electrical stimulation (FES) of the quadriceps muscles and powered exoskeleton systems. Our proposed approach leverages a hierarchical closed-loop controller for knee joint position tracking while addressing limitations of powered exoskeletons and FES systems by reducing...
Evaluating Gait Symmetry with a Smart Robotic Walker: A Novel Approach to Mobility Assessment
Просмотров 70Месяц назад
Gait asymmetry, a consequence of various neurological or physical conditions such as aging and stroke, detrimentally impacts bipedal locomotion, causing biomechanical alterations, increasing the risk of falls and reducing quality of life. Addressing this critical issue, this paper introduces a novel diagnostic method for gait symmetry analysis through the use of an assistive robotic Smart Walke...
Label-Free Adaptive Gaussian Sample Consensus for Learning from Perfect and Imperfect Demonstrations
Просмотров 1593 месяца назад
Autonomous robotic surgery is one of the most groundbreaking advancements in medical technology. Learning from human demonstrations is promising in this domain, which facilitates the transfer of skills from humans to robots. However, the practical application of this approach is hampered by the difficulty of acquiring high-quality demonstrations since surgical tasks often involve complex manipu...
Autonomous Blood Suction for Robot-Assisted Surgery
Просмотров 823 месяца назад
Recent applications of deep reinforcement learning (DRL) in surgical autonomy have shown promising results in automating various surgical sub-tasks. While most of these studies consider the rigid and soft body dynamics in the surgery such as tissue deformation, only a few have investigated the situation where fluid is present. However, the presence of fluids, particularly blood, is common in su...
Robotic Assistance and Haptic Feedback in Arthroscopic Procedures
Просмотров 954 месяца назад
Robot-assisted arthroscopic surgery has been receiving growing attention in the field of orthopedic surgery. Most of the existing robot-assisted surgical systems in orthopedics place more focus on open surgery than minimally invasive surgery (MIS). In traditional arthroscopic surgery, the surgeon needs to hold an arthroscope with one hand while performing the surgical operations with the other ...
Augmented Reality-Based Tumor Localization and Visualization for Robot-Assisted Breast Surgeries
Просмотров 654 месяца назад
Breast cancer is one of the leading causes of death in women, hence accurately locating and removing the tumor is crucial. Current wire and nonwire tumor localization methods are invasive and cause patient discomfort. While Robot-assisted surgery (RAS) has shown potential in enhancing accuracy, dexterity, and surgeon autonomy, the absence of 3D visualization of the tumor and the deformable natu...
EMG-Based Intention Detection Using Deep Learning For Shared Control In Upper-Limb Exoskeletons
Просмотров 804 месяца назад
In the field of human-robot interaction, surface electromyography (sEMG) provides a valuable tool for measuring active muscular effort. While numerous studies have investigated real-time control of upper extremity exoskeletons based on user intention and task-specific movements, the prediction of body joint positions based on EMG features has remained largely unexplored. In this paper, we addre...
Iterative Learning for Gravity Compensation in Impedance Control
Просмотров 875 месяцев назад
Robot-assisted arthroscopic surgery has been increasingly receiving attention in orthopedic surgery. To build a robot-assisted system, dynamic uncertainties can be a critical issue that could bring robot performance inaccuracy or even system instability if cannot be appropriately compensated. Disturbance observer is a common tool to be used for disturbance estimation and compensation by taking ...
A Realistic Surgical Simulator for Non-Rigid and Contact-Rich Manipulation in Surgeries with dVRK
Просмотров 3375 месяцев назад
Realistic real-time surgical simulators play an increasingly important role in surgical robotics research, such as surgical robot learning and automation, and surgical skills assessment. Although there are a number of existing surgical simulators for research, they generally lack the ability to simulate the diverse types of objects and contact-rich manipulation tasks typically present in surger...
Stability and Intervehicle Distance Analysis of Vehicular Platoons
Просмотров 578 месяцев назад
Vehicular platooning, a configuration comprising a leading vehicle and multiple follower vehicles (FVs) seeks to achieve and maintain specific intervehicle distances (IDs) while synchronizing FVs with the velocity and acceleration of the leading vehicle. Before attaining a desired stable state, the IDs may undergo transient fluctuations. While the attainment of internal stability is pivotal for...
EMG-Based Intention Detection Using Deep Learning for Shared Control in Assistive Exoskeletons
Просмотров 59610 месяцев назад
In the field of human-robot interaction, surface electromyography (sEMG) provides a valuable tool for measuring active muscular effort. While numerous studies have investigated real-time control of upper extremity exoskeletons based on user intention and task-specific movements, the prediction of body joint positions based on EMG features has remained largely unexplored. In this paper, we addre...
Robot Learning Incorporating Human Interventions for Autonomous Surgical Endoscopic Camera Control
Просмотров 19511 месяцев назад
Recent studies in surgical robotics have focused on automating common surgical subtasks such as grasping and manipulation using deep reinforcement learning (DRL). In this work, we consider surgical endoscopic camera control for object tracking-e.g., using the endoscopic camera manipulator (ECM) from the da Vinci Research Kit (dVRK) (Intuitive Inc., Sunnyvale, CA, USA)-as a typical surgical robo...
A brief survey of observers for disturbance estimation and compensation
Просмотров 51Год назад
An accurate dynamic model of a robot is fundamentally important for a control system, while uncertainties residing in the model are inevitable in a physical robot system. The uncertainties can be categorized as internal disturbances and external disturbances in general. The former may include dynamic model errors and joint frictions, while the latter may include external payloads or human-exert...
Point-Based 3D Virtual Fixture Generating for Image-Guided and Robot-Assisted Surgery in Orthopedics
Просмотров 110Год назад
Virtual fixture (VF) has been playing a vital role in robot-assisted surgeries, such as guiding surgical tools' movement and protecting a beating heart. In orthopedic surgery, preplanned images are often used in the operating room, on which planning curves might be drawn, for instance, to mark out the boundaries for osteophytes to be removed. These curves can be used to generate VF to assist in...
NN Learning of Robot Dynamic Uncertainties & Observer-Based External Disturbance Estimation
Просмотров 160Год назад
NN Learning of Robot Dynamic Uncertainties & Observer-Based External Disturbance Estimation
Point-Based 3D Virtual Fixture Generating for Image-Guided and Robot-Assisted Surgery in Orthopedics
Просмотров 56Год назад
Point-Based 3D Virtual Fixture Generating for Image-Guided and Robot-Assisted Surgery in Orthopedics
Registration of Deformed Tissue: A GNN-VAE Approach with Data Assimilation for Sim-to-Real Transfer
Просмотров 36Год назад
Registration of Deformed Tissue: A GNN-VAE Approach with Data Assimilation for Sim-to-Real Transfer
Deep Reinforcement Learning based Personalized Locomotion Planning for Lower-Limb Exoskeletons
Просмотров 134Год назад
Deep Reinforcement Learning based Personalized Locomotion Planning for Lower-Limb Exoskeletons
Point-Based 3D Virtual Fixture Generation for Image-Guided/Robot-Assisted Surgery in Orthopedics
Просмотров 36Год назад
Point-Based 3D Virtual Fixture Generation for Image-Guided/Robot-Assisted Surgery in Orthopedics
Safe and Efficient Reinforcement Learning for Surgical Robots
Просмотров 437Год назад
Safe and Efficient Reinforcement Learning for Surgical Robots
Sim-to-Real Surgical Robot Learning and Autonomous Planning using Reinforcement Learning
Просмотров 561Год назад
Sim-to-Real Surgical Robot Learning and Autonomous Planning using Reinforcement Learning
Wheeled Mobile Manipulators and Exoskeletons for Intelligent Mobility Assistance
Просмотров 158Год назад
Wheeled Mobile Manipulators and Exoskeletons for Intelligent Mobility Assistance
Robotic Learning in Rehabilitation Applications
Просмотров 136Год назад
Robotic Learning in Rehabilitation Applications
Domain-Adapted Machine Learning for Visual Evaluation of Robot-Assisted Surgery Skills
Просмотров 64Год назад
Domain-Adapted Machine Learning for Visual Evaluation of Robot-Assisted Surgery Skills
Domain-Adapted Machine Learning for Visual Evaluation of Robot-Assisted Surgery Skills
Просмотров 38Год назад
Domain-Adapted Machine Learning for Visual Evaluation of Robot-Assisted Surgery Skills
Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control
Просмотров 111Год назад
Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control
Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control
Просмотров 121Год назад
Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control
EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
Просмотров 57Год назад
EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
Просмотров 89Год назад
EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging

Комментарии

  • @jonathanbopp7766
    @jonathanbopp7766 9 месяцев назад

    she looks sooo bored

  • @naeemajilforoushan5784
    @naeemajilforoushan5784 11 месяцев назад

    Dear Professor Tavakoli, Thanks for this video. Also, it is great to cooperate with Dr. Taghirad. I met him in his office about 10 years ago.

  • @surajhebbal3232
    @surajhebbal3232 Год назад

    tired engineer spotted

  • @attiyahussain9071
    @attiyahussain9071 Год назад

    kindly tell me the name of tool you used for Numerical simulations

  • @Koroleva_O_A
    @Koroleva_O_A Год назад

    Do you have email address? Where can you write?

  • @samuelpowell5021
    @samuelpowell5021 Год назад

    քʀօʍօֆʍ

  • @joelappiahotu6808
    @joelappiahotu6808 2 года назад

    Impressive Prof!

  • @sumitdesai5236
    @sumitdesai5236 3 года назад

    Excellent project

  • @masoudakhgar8544
    @masoudakhgar8544 3 года назад

    Hoping for better progress in this area

  • @ranjitjgec007
    @ranjitjgec007 3 года назад

    great work sir

  • @mahwishbano1946
    @mahwishbano1946 3 года назад

    Nice onaizah keep it up.may allah blessed u always dear From india

  • @arpantiwari9820
    @arpantiwari9820 3 года назад

    sir link for paper is not opening

  • @amaiasanz1823
    @amaiasanz1823 4 года назад

    Hi, I have one question. The tool of the robot take the transducer autonomous or you put it manually?

  • @alexgabriel1069
    @alexgabriel1069 4 года назад

    Nice vid, going to check out some more of your videos! Check SMZeus to increase your social proof!