Toward Damage-Less Robotic Fragile Fruit Grasping: A Closed-Loop Force Control Method for Pneumatic-Driven Soft Gripper.

Fragile fruit uploading and packaging are labor-intensive and time-consuming steps in postharvest industry. With the aging of the global population, it is supposed to develop robotic grasping systems to replace manual labor. However, damage-less grasping of fragile fruit is the key problem in robotization.

Magnetic Soft Microrobot Design for Cell Grasping and Transportation.

Manipulating cells at a small scale is widely acknowledged as a complex and challenging task, especially when it comes to cell grasping and transportation. Various precise methods have been developed to remotely control the movement of microrobots. However, the manipulation of micro-objects necessitates the use of end-effectors.

Second near-infrared fluorescent Metal-Organic framework sensors for in vivo extracellular adenosine triphosphate monitoring.

Plant nanobionic sensors enable real-time monitoring of signaling molecules in plants by interfacing them with specifically designed nanoprobes, which have been acknowledged as species-independent analytical tools. In this study, we developed a plant nanobionic sensor for in vivo detection of extracellular adenosine triphosphate (eATP) in living plants by designing a novel second near-infrared (NIR-II) fluorescent metal-organic framework (MOF) nanoprobe. The NIR-II fluorescent nanoprobe (IR-1061 micelle@ZIF-90) with a sandwich structure was synthesized by successive encapsulation of the hydrophobic NIR-II dye IR-1061 with the amphipathic polymer DSPE-mPEG 2000 and MOF ZIF-90.

Theoretical error analysis of spotlight-based instrument localization for retinal surgery.

Retinal surgery is widely considered to be a complicated and challenging task even for specialists. Image-guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities therein. In this paper, we demonstrate the possibility of using spotlights for 5D guidance of a microsurgical instrument.

Growth parameter acquisition and geometric point cloud completion of lettuce.

The plant factory is a form of controlled environment agriculture (CEA) which is offers a promising solution to the problem of food security worldwide. Plant growth parameters need to be acquired for process control and yield estimation in plant factories. In this paper, we propose a fast and non-destructive framework for extracting growth parameters.

Combined dehydrogenation of glycerol with catalytic transfer hydrogenation of H acceptors to chemicals: Opportunities and challenges.

Catalytic transformation of low-cost glycerol to value-added lactic acid (LA) is considered as one of the most promising technologies for the upgradation of glycerol into renewable products. Currently, research studies reveal that anaerobic transformation of glycerol to LA could also obtain green H with the same yield of LA. However, the combined value-added utilization of released H with high selectivity of LA during glycerol conversion under mild conditions still remains a grand challenge.

Deep Reinforcement Learning Based Trajectory Planning Under Uncertain Constraints.

With the advance in algorithms, deep reinforcement learning (DRL) offers solutions to trajectory planning under uncertain environments. Different from traditional trajectory planning which requires lots of effort to tackle complicated high-dimensional problems, the recently proposed DRL enables the robot manipulator to autonomously learn and discover optimal trajectory planning by interacting with the environment. In this article, we present state-of-the-art DRL-based collision-avoidance trajectory planning for uncertain environments such as a safe human coexistent environment.

Spotlight-based 3D Instrument Guidance for Autonomous Task in Robot-assisted Retinal Surgery.

Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this paper, a novel method is proposed for 3D navigation of a microsurgical instrument based on the projection of a spotlight during robot-assisted retinal surgery.

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study.

Retinal vein cannulation (RVC) is a potential treatment for retinal vein occlusion (RVO). Manual surgery has limitations in RVC due to extremely small vessels and instruments involved, as well as the presence of physiological hand tremor. Robot-assisted retinal surgery may be a better approach to smooth and accurate instrument manipulation during this procedure.

Spotlight-based 3D Instrument Guidance for Retinal Surgery.

Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment outcome and reduce the physical limitations of human surgeons. In this paper, we demonstrate a novel method for 3D guidance of the instrument based on the projection of spotlight in the single microscope images.

Correlated Skin Surface and Tumor Motion Modeling for Treatment Planning in Robotic Radiosurgery.

In robotic radiosurgery, motion tracking is crucial for accurate treatment planning of tumor inside the thoracic or abdominal cavity. Currently, motion characterization for respiration tracking mainly focuses on markers that are placed on the surface of human chest. Nevertheless, limited markers are not capable of expressing the comprehensive motion feature of the human chest and abdomen.

Reducing the Number of Degrees of Freedom to Control an Eye Surgical Robot through Classification of Surgical Phases.

This paper introduces an optimized input device workflow to control an eye surgical robot in a simulated vitreoretinal environment. The input device is a joystick with four Degrees of Freedom (DOF) that controls a six DOFs robot. This aim is achieved through a segmentation plan for an eye surgeon.