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arXiv 2023年

作者： Li, Juncheng Cappelleri, David J. Multi-Scale Robotics & Automation Lab School of Mechanical Engineering Purdue University West LafayetteIN United States Purdue University West LafayetteIN United States

This paper presents Sim-Suction, a robust objectaware suction grasp policy for mobile manipulation platforms with dynamic camera viewpoints, designed to pick up unknown objects from cluttered environments. Suction grasp policies typically employ data-driven approaches, necessitating largescale, accurately-annotated suction grasp datasets. However, the generation of suction grasp datasets in cluttered environments remains underexplored, leaving uncertainties about the relationship between the object of interest and its surroundings. To address this, we propose a benchmark synthetic dataset, Sim- Suction-Dataset, comprising 500 cluttered environments with 3.2 million annotated suction grasp poses. The efficient Sim-Suction- Dataset generation process provides novel insights by combining analytical models with dynamic physical simulations to create fast and accurate suction grasp pose annotations. We introduce Sim-Suction-Pointnet to generate robust 6D suction grasp poses by learning point-wise affordances from the Sim-Suction-Dataset, leveraging the synergy of zero-shot text-to-segmentation. Realworld experiments for picking up all objects demonstrate that Sim-Suction-Pointnet achieves success rates of 96.76%, 94.23%, and 92.39% on cluttered level 1 objects (prismatic shape), cluttered level 2 objects (more complex geometry), and cluttered mixed objects, respectively. The codebase can be accessed at https://***/junchengli1/Sim-Suction-API. Copyright © 2023, The Authors. All rights reserved.

关键词： Zero-shot learning

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Acoustically Excited Channel Walls for Microbiological Applications 25

Acoustically Excited Channel Walls for Microbiological Appli...

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25th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2021

作者： Gerlt, Michael Läubli, Nino Ruppen, Peter Leuthner, Moritz Manser, Michel Wüthrich, Alexander Nelson, Bradley Panke, Sven Dual, Jürg ETH Zürich Mechanics and Experimental Dynamics Switzerland ETH Zürich Multi-Scale Robotics Lab Switzerland ETH Zürich Bioprocess Laboratory Switzerland

ISBN: (纸本)9781733419031

This work presents a novel concept for acoustofluidic cell manipulation: thin vibrating channel walls. Improved etch recipes enable us to produce thin walls between two microfluidic channels, fabricated in silicon or via PDMS casting, that can be used for challenging microbiological applications. We demonstrate the medium exchange for bacteria utilised for transformation, single-cell rotation for 3D imaging, and rapid fluid mixing. © 2021 MicroTAS 2021 - 25th International Conference on Miniaturized Systems for Chemistry and Life Sciences. All rights reserved.

关键词： Bacteria

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Pose-Estimate-Based Target Tracking for Human-Guided Remote Sensor Mounting with a UAV

Pose-Estimate-Based Target Tracking for Human-Guided Remote ...

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2020 IEEE International Conference on robotics and Automation, ICRA 2020

作者： McArthur, Daniel R. An, Ze Cappelleri, David J. Purdue University Multi-Scale Robotics and Automation Lab School of Mechanical Engineering West LafayetteIN47907 United States

ISBN: (纸本)9781728173955

In this paper, we present a method for pose-estimate-based target tracking (PBTT) that enables the performance of autonomous aerial manipulation operations in unstructured environments using fully on-board computation for both UAV localization and target tracking. The PBTT method does not depend on extracting traditional visual features (e.g. using SIFT, SURF, ORB, etc.) on or near the target. Instead, the algorithm combines input from an RGB-D camera and the UAV's position estimator (which utilizes a downward-facing optical flow camera for horizontal localization) to track a target point selected by a human operator. The effectiveness of the PBTT method is evaluated through several autonomous flight tests performed with the Interacting-Boomcopter (I-BC) UAV platform in unstructured environments and in the presence of light wind disturbances. © 2020 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A Magnetically Steered Endolaser Probe for Automated Panretinal Photocoagulation

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IEEE robotics and Automation Letters 2019年第2期4卷 284-290页

作者： Charreyron, Samuel L. Gabbi, Edoardo Boehler, Quentin Becker, Matthias Nelson, Bradley J. Multi Scale Robotics Lab ETH Zurich Zurich8092 Switzerland Stadtspital Triemli Zurich8003 Switzerland

The advanced state of diabetic retinopathy, a leading cause of blindness, is treated by panretinal photocoagulation (PRP), a repetitive procedure performed by a surgeon using a handheld laser probe. In its place we propose a soft-robotic flexible probe precisely steered using magnetic fields generated by an external magnetic steering system. We develop a kinematic model for the PRP task and show that the process can be automated given image feedback of the retina through a fundus camera. We demonstrate the concept in an eye phantom of a human eye, achieving clinical-level accuracy and faster speeds than human surgeons. © 2016 IEEE.

关键词： Kinematics

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In-vitro Renal Artery Stenting Using a Steerable Guide Wire Navigated by a Mobile Electromagnetic Field

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Journal of Vascular Surgery Cases, Innovations and Techniques 2025年

作者： Christian Zielasek Jonas Lussi Silvia Viviani Vladimir Makaloski Daosos Kotelis Silvan Jungi Department of Vascular Surgery Inselspital Bern University Hospital University of Bern Bern Switzerland ETH Zurich Multi-Scale Robotics Lab Zurich Switzerland

Objective Endovascular procedures require precise guide wire control which often requires auxiliary devices. Therefore, catheterization can be time and resource intensive. A novel technology involves using a mobile external electromagnetic field to manipulate guide wires remotely, eliminating the need for additional devices. Design This experimental study evaluates the feasibility of this technology in a representative 3-D model mimicking the human vasculature, comparing it to conventional means. Methods We assessed the efficacy of a magnetically steerable guide wire (MGW) versus a conventional guide wire (CGW) in catheterizing the renal artery in a 3D silicone model of the abdominal aorta. Results A total of 20 procedures were performed, with 10 utilizing a MGW for renal artery catheterization and 10 using a CGW. Technical success was 100% for all procedures. Median procedure time was significantly shorter for MGW than for CGW (105 s vs. 181 s, p < 0.001). We observed a trend towards lower median fluoroscopic time (65 s vs 101 s, p = 0.06) and lower median fluoroscopic dose (6.84 mGycm2 vs. 10.98 mGycm2, p = 0.063) for MGW compared with CGW. Conclusion Precise control of a steerable guide wire using a mobile external electromagnetic field is technically feasible in a three-dimensional (3D) silicone-model of the human aorta. It facilitates in-vitro renal artery catheterization and stenting and reduces both procedure and fluoroscopy time. This novel technology could further improve numerous endovascular procedures.

关键词： Aortic Surgery Endovascular Surgery Magnetic Steering Basic Surgical Research Endovascular Therapy Renal Artery Stenting Aortic Aneurysm Radiation Protection 3D three-dimensional A Ampere CGW conventional guide wire eMNS electromagnetic navigation system ETH Eidgenössische Technische Hochschule (Swiss Federal Institute of Technology) EUR Euro EVAR endovascular aortic repair F French Gy Gray MGW magnetically steerable guide wire mm millimetre NdFeB Neodymium-Iron-Boron s second USD United States Dollar

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Precise Robot Localization in Architectural 3D Plans

arXiv

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arXiv 2020年

作者： Blum, Hermann Stiefel, Julian Cadena, Cesar Siegwart, Roland Gawel, Abel Autonomous Systems Lab ETH Zurich Multi Scale Robotics Lab ETH Zurich

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for locally accurate registration. We further fuse a novel image-based robust outlier detector with LiDAR data to reject a wide range of outlier measurements from clutter, dynamic objects, and sensor failures. We evaluate the proposed approach on a mobile robot in a challenging real world building construction site. It consistently outperforms the traditional ICP-based alingment, reducing localization error by at least 30%. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Non-invasive urinary bladder volume estimation with artefact-suppressed bio-impedance measurements

arXiv

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arXiv 2023年

作者： Dheman, Kanika Walser, Stefan Mayer, Philipp Eggimann, Manuel Kozomara, Marko Franke, Denise Hermanns, Thomas Sax, Hugo Schürle, Simone Magno, Michele Project Based Learning Center ETH Zürich Switzerland Multi-Scale Robotics Lab ETH Zürich Switzerland Integrated Systems Laboratory ETH Zürich Switzerland Department of Infectious Diseases Bern University Hospital University of Berm Switzerland Klinik für Urologie Unispital Zurich Switzerland Responsive Biomedical Systems Laboratory ETH Zurich Switzerland

Urine output is a vital parameter to gauge kidney health. Current monitoring methods include manually written records, invasive urinary catheterization or ultrasound measurements performed by highly skilled personnel. Catheterization bears high risks of infection while intermittent ultrasound measures and manual recording are time consuming and might miss early signs of kidney malfunction. Bioimpedance (BI) measurements may serve as a non-invasive alternative for measuring urine volume in vivo. However, limited robustness have prevented its clinical translation. Here, a deep learning-based algorithm is presented that processes the local BI of the lower abdomen and suppresses artefacts to measure the bladder volume quantitatively, non-invasively and without the continuous need for additional personnel. A tetrapolar BI wearable system called ANUVIS was used to collect continuous bladder volume data from three healthy subjects to demonstrate feasibility of operation, while clinical gold standards of urodynamic (n=6) and uroflowmetry tests (n=8) provided the ground truth. Optimized location for electrode placement and a model for the change in BI with changing bladder volume is deduced. The average error for full bladder volume estimation and for residual volume estimation was -29±87.6 ml, thus, comparable to commercial portable ultrasound devices (Bland Altman analysis showed a bias of -5.2 ml with LoA between 119.7 ml to -130.1 ml), while providing the additional benefit of hands-free, non-invasive, and continuous bladder volume estimation. The combination of the wearable BI sensor node and the presented algorithm provides an attractive alternative to current standard of care with potential benefits in providing insights into kidney function. Copyright © 2023, The Authors. All rights reserved.

关键词： Risk assessment

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Analysis of the navigation of magnetic microrobots through cerebral bifurcations

arXiv

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arXiv 2025年

作者： Alves, Pedro G. Pinto, Maria Moreira, Rosa Sivakumaran, Derick Landers, Fabian C. Guix, Maria Nelson, Bradley J. Flouris, Andreas D. Pané, Salvador Puigmartí-Luis, Josep Mayor, Tiago Sotto Engineering Faculty Porto University Portugal Engineering Faculty Porto University Portugal Experian Portugal Magnebotix Zurich Switzerland Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland FAME Laboratory Department of Exercise Science University of Thessaly Greece Depart. de Ciència dels Materials i Química Física Institut de Química Teòrica i Computacional University of Barcelona Barcelona Spain Barcelona Spain

Local administration of thrombolytics in ischaemic stroke could accelerate clot lysis and the ensuing reperfusion while minimizing the side effects of systemic administration. Medical microrobots could be injected into the bloodstream and magnetically navigated to the clot for administering the drugs directly to the target. The magnetic manipulation required to navigate medical microrobots will depend on various parameters such as the microrobots size, the blood velocity, and the imposed magnetic field gradients. Numerical simulation was used to study the motion of magnetically controlled microrobots flowing through representative cerebral bifurcations, for predicting the magnetic gradients required to navigate the microrobots from the injection point until the target location. Upon thorough validation of the model against several independent analytical and experimental results, the model was used to generate maps and a predictive equation providing quantitative information on the required magnetic gradients, for different scenarios. The developed maps and predictive equation are crucial to inform the design, operation and optimization of magnetic navigation systems for healthcare applications. © 2025, CC BY-NC-ND.

关键词： Controlled drug delivery

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Identification of Effective Motion Primitives for Ground Vehicles

Identification of Effective Motion Primitives for Ground Veh...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Tobias Löw Tirthankar Bandyopadhyay Paulo V. K. Borges Robotics and Autonomous Systems Group CSIRO Australia Multi-Scale Robotics Lab ETH Zurich Zurich Switzerland

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Understanding the kinematics of a ground robot is essential for efficient navigation. Based on the kinematic model of a robot, its full motion capabilities can be represented by theoretical motion primitives. However, depending on the environment and/or human preferences, not all of those theoretical motion primitives are desirable and/or achievable. This work presents a method to identify effective motion primitives (eMP) from continuous trajectories for autonomous ground robots. The pipeline efficiently performs segmentation, representation and reconstruction of the motion primitives, using initial human-driving behaviour as a guide to create a motion primitive library. Hence, this strategy incorporates how the environment affects the robot operation regarding accelerations, speed, braking, and steering *** method is thoroughly tested on an autonomous car-like electric vehicle, and the results show excellent generalisation of the theoretical motion primitive distribution to real vehicle. The experiments are carried out on large site with very diverse characteristics, illustrating the applicability of the method.

关键词： Motion segmentation Kinematics Libraries Trajectory Planning Task analysis Robots

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Development of a magnetoelectric neural stimulator for in vitro experiments

Development of a magnetoelectric neural stimulator for in vi...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Stratis Matsoukis Joana Covelo Maria V. Sanchez-Vives Andrea Veciana Donghoon Kim Xiang-Zhong Chen Salvador Pané Hidelberto Macedo-Zamudio Ulrike Wallrabe Ren Xu Guenter Edlinger Josef Scharinger G.tec Medical Engineering GmbH Austria Institute for Computational Perception Johannes Kepler University Linz Austria Institut D'Investigacions Biomèdiques August Pi i Sunyer (IDIBAPS) Barcelona Spain Institució Catalana de Recerca i Estudis Avançats (ICREA) Barcelona Spain Multi-Scale Robotics Lab (MSRL) Institute of Robotics and Intelligent Systems (IRIS) ETH Zurich Zurich Switzerland Laboratory for Microactuators IMTEK Albert-Ludwigs-Universität Freiburg Freiburg Germany

Magnetoelectric (ME) materials hold the potential for wireless and minimally invasive brain stimulation with high spatial precision. However, comprehensive integration of ME materials in neurophysiology experiments remains an open challenge. In this study, we present the development of a ME stimulator prototype for in vitro brain stimulation, specifically tested with BiFeO 3 -CoFe 2 O 4 (BFO-CFO) nanoparticles. Our approach entails the design and implementation of a ME stimulator, which seamlessly integrates with existing electrophysiology setups while supporting a wide range of frequencies. To optimize the stimulator's design and evaluate its performance, we conducted modeling and simulations, bench tests, and in vitro experiments using cortical slices. The proposed ME stimulator offers neuroscientists a reliable and versatile tool to advance their understanding of brain function and potentially enhance the treatment of neurological disorders.

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