Accelerating surgical robotics research: A review of 10 years with the da vinci research kit
Robotic-assisted surgery is now well established in clinical practice and has become the
gold-standard clinical treatment option for several clinical indications. The field of robotic …
gold-standard clinical treatment option for several clinical indications. The field of robotic …
ORRN: An ODE-based recursive registration network for deformable respiratory motion estimation with lung 4DCT images
Objective: Deformable Image Registration (DIR) plays a significant role in quantifying
deformation in medical data. Recent Deep Learning methods have shown promising …
deformation in medical data. Recent Deep Learning methods have shown promising …
Intermittent visual servoing: Efficiently learning policies robust to instrument changes for high-precision surgical manipulation
Assisting surgeons with automation of surgical subtasks is challenging due to backlash,
hysteresis, and variable tensioning in cable-driven robots. These issues are exacerbated as …
hysteresis, and variable tensioning in cable-driven robots. These issues are exacerbated as …
Robotic manipulation of deformable rope-like objects using differentiable compliant position-based dynamics
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 …
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
Image based reconstruction of liquids from 2d surface detections
In this work, we present a solution to the challenging problem of reconstructing liquids from
image data. The challenges in reconstructing liquids, which is not faced in previous …
image data. The challenges in reconstructing liquids, which is not faced in previous …
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
Controlling robotic manipulators via visual feedback requires a known coordinate frame
transformation between the robot and the camera. Uncertainties in mechanical systems as …
transformation between the robot and the camera. Uncertainties in mechanical systems as …
Differentiable robotic manipulation of deformable rope-like objects using compliant position-based dynamics
Robot manipulation of rope-like objects is an interesting problem that has some critical
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …
Parameter identification and motion control for articulated rigid body robots using differentiable position-based dynamics
Simulation modeling of robots, objects, and environments is the backbone for all model-
based control and learning. It is leveraged broadly across dynamic programming and model …
based control and learning. It is leveraged broadly across dynamic programming and model …
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Inaccurate tool localization is one of the main reasons for failures in automating surgical
tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of …
tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of …