From teleoperation to autonomous robot-assisted microsurgery: A survey
Robot-assisted microsurgery (RAMS) has many benefits compared to traditional
microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro …
microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro …
Microsurgery robots: applications, design, and development
T Wang, H Li, T Pu, L Yang - Sensors, 2023 - mdpi.com
Microsurgical techniques have been widely utilized in various surgical specialties, such as
ophthalmology, neurosurgery, and otolaryngology, which require intricate and precise …
ophthalmology, neurosurgery, and otolaryngology, which require intricate and precise …
LapGym-an open source framework for reinforcement learning in robot-assisted laparoscopic surgery
Recent advances in reinforcement learning (RL) have increased the promise of introducing
cognitive assistance and automation to robot-assisted laparoscopic surgery (RALS) …
cognitive assistance and automation to robot-assisted laparoscopic surgery (RALS) …
Guided reinforcement learning with efficient exploration for task automation of surgical robot
Task automation of surgical robot has the potentials to improve surgical efficiency. Recent
reinforcement learning (RL) based approaches provide scalable solutions to surgical …
reinforcement learning (RL) based approaches provide scalable solutions to surgical …
Bi-touch: Bimanual tactile manipulation with sim-to-real deep reinforcement learning
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity.
However, this topic is less explored than single-arm settings, partly due to the availability of …
However, this topic is less explored than single-arm settings, partly due to the availability of …
Learning to localize, grasp, and hand over unmodified surgical needles
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive
surgeries by expert surgeons. However, long procedures filled with tedious and repetitive …
surgeries by expert surgeons. However, long procedures filled with tedious and repetitive …
Sim-to-real surgical robot learning and autonomous planning for internal tissue points manipulation using reinforcement learning
Y Ou, M Tavakoli - IEEE Robotics and Automation Letters, 2023 - ieeexplore.ieee.org
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired
locations indirectly through the manipulation of boundary points, is a type of subtask …
locations indirectly through the manipulation of boundary points, is a type of subtask …
Image-based pose estimation and shape reconstruction for robot manipulators and soft, continuum robots via differentiable rendering
State estimation from measured data is crucial for robotic applications as autonomous
systems rely on sensors to capture the motion and localize in the 3D world. Among sensors …
systems rely on sensors to capture the motion and localize in the 3D world. Among sensors …
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 …
Automatic parameter optimization using genetic algorithm in deep reinforcement learning for robotic manipulation tasks
Learning agents can make use of Reinforcement Learning (RL) to decide their actions by
using a reward function. However, the learning process is greatly influenced by the elect of …
using a reward function. However, the learning process is greatly influenced by the elect of …