Wenchao Yue

Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots

Hiu Ching Cheung, Wenchao Yue, Zhengran Han, Mingcong Chen et autres

Abstract Tracheostomy requires precise localization of the tracheal incision site; however, conventional manual palpation is subjective and often unreliable, while ultrasound utility remains operator-dependent. This work presents a learning-based framework for hierarchical tracheal anatomy understanding, designed specifically for ultrasound-guided robotic systems. We …

hk, gb, fr, cn (code pays fourni par la source)

Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots

Hiu Ching Cheung, Wenchao Yue, Zhengran Han, Mingcong Chen et autres

Tracheostomy requires precise localization of the tracheal incision site; however, conventional manual palpation is subjective and often unreliable, while ultrasound utility remains operator-dependent. This work presents a learning-based framework for hierarchical tracheal anatomy understanding, designed specifically for ultrasound-guided robotic systems. We propose …

hk, gb, in, cn (code pays fourni par la source)

Bilateral Soft Pouch Matrix Actuation for Multimodal Intraluminal Locomotion of Liquid Sampling Robotics

Y S Zhang, Wenchao Yue, Hiu Ching Cheung, Haixu Meng et autres

Cystic fibrosis (CF) patients continue to suffer from mucus accumulation and recurrent infections despite long-term clinical interventions. Conventional airway clearance therapies have limited accessibility to distal bronchial regions with low overall clearance efficiency, and existing studies lack objective quantitative metrics. Here, we …

hk, cn (code pays fourni par la source)

Bioinspired Kirigami Capsule Robot for Minimally Invasive Gastrointestinal Biopsy

Ruizhou Zhao, Yichen Chu, Shuwei Zhao, Wenchao Yue et autres

Wireless capsule endoscopy (WCE) has transformed gastrointestinal (GI) diagnostics by enabling noninvasive visualization of the digestive tract, yet its diagnostic yield remains constrained by the absence of biopsy capability, as histological analysis is still the gold standard for confirming disease. Conventional biopsy …

Bioinspired Kirigami Capsule Robot for Minimally Invasive Gastrointestinal Biopsy

Ruizhou Zhao, Yichen Chu, Shuwei Zhao, Wenchao Yue et autres

Wireless capsule endoscopy (WCE) has transformed gastrointestinal (GI) diagnostics by enabling noninvasive visualization of the digestive tract, yet its diagnostic yield remains constrained by the absence of biopsy capability, as histological analysis is still the gold standard for confirming disease. Conventional biopsy …

Body-Temperature-Responsive Balloon Actuator for Adaptive In-Ear Microneedle Electrode Deployment

Wenchao Yue, Er-long Li, Hongliang Ren

Conventional in-ear electrodes face challenges such as inconsistent skin contact, motion artifacts, and discomfort, limiting their reliability in dynamic conditions. To overcome these limitations, this study presents a body-temperature responsive in-ear balloon actuator (BBA) based on liquid-to-vapor phase change, integrated with silver …

hk, sg (code pays fourni par la source)

Centimeter‐Scale Magneto‐Reconfigurable Parallel Robots: A Grassmann Line Geometry Synthesis Framework for Multitask Adaptation Using Magneto‐Connected Part Library

Yunong Li, Bin Zhu, Wenchao Yue, Zhiwei Fang et autres

The development of centimeter‐scale reconfigurable parallel robots is critical for applications requiring precise, adaptive, and space‐constrained operations across bench‐top automation and minimally invasive systems. However, existing platforms struggle to balance miniaturization, multidegree‐of‐freedom flexibility, and rapid in situ reconfiguration for different tasks. To …

hk, gb, cn (code pays fourni par la source)

Low‐Strain Flexible Ink‐Based Sensors Enable Hyperelastic Inflation Perception Via Geometric Patterning for Balloon‐Type Robots

Wenchao Yue, Shuoyuan Chen, Ke Yan, Yingyi Wen et autres

Integrating proprioceptive capabilities in balloon‐type robots holds immense potential to enable safe interactions between humans and machines. These robots, made of elastic or hyperelastic materials, undergo substantial deformations when subjected to changes in pressure. However, simply estimating balloon deformations based on pressure …

hk, cn, ch (code pays fourni par la source)

Kirigami-inspired Flexible Strain Sensor for Dynamic Inflation Surface Applications

Shuoyuan Chen, Wenchao Yue, Ruizhou Zhao, Hongliang Ren

Flexible strain sensors are crucial for providing tactile feedback, proprioception, and adaptability in soft robotics, where precise evaluation is especially essential for applications such as biomedical devices. However, traditional sensors face challenges due to their limited flexibility and sensitivity, particularly when deployed …

cn (code pays fourni par la source)

Redesign Energy Landscapes of A Bistable Magnetoelastic Origami Towards Tissue Puncture

Yunong Li, Wenchao Yue, Fang Leng, Chenjie Xu et autres

Bistable mechanisms have been extensively investigated and applied in various fields, including robotics, augmented and virtual reality (AR/VR) devices, and mechanical computing. The energy landscape has emerged as a powerful analytical tool for understanding these mechanisms. Consequently, designing energy landscapes has become …

cn, sg, hk (code pays fourni par la source)

ElastoSight: Miniature Tactile Sensors for Multimodal Force and Geometry Estimation in Robotic Intraluminal Palpation

Wenchao Yue, Peng Liu, Chao Xu, Jiewen Lai et autres

Contact-based evaluation of tissue biomechanical properties in intraluminal scenarios through robotic palpation is crucial for disease diagnosis. However, the real-time acquisition of distal information regarding the contacted tissue’s interaction state and physical characteristics remains challenging. As an emerging technology, endoscopic optical coherence …

cn, hk (code pays fourni par la source)

Bimodal Tactile Tomography with Bayesian Sequential Palpation for Intracavitary Microstructure Profiling and Segmentation

Wenchao Yue, Chao Xu, Tao Zhang, Jianing Qiu et autres

Robotic palpation for in-situ tissue biomechanical evaluation is crucial for diagnosing diseases in luminal organs, particularly in the early diagnosis of bladder cancer. Although commercial surgical robotic systems offer tactile feedback, they lack tactile intelligence and autonomous decision-making, hindering thorough tissue assessment. …