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 …
Human-in-the-loop embodied intelligence with interactive simulation environment for surgical robot learning
Surgical robot automation has attracted increasing research interest over the past decade,
expecting its potential to benefit surgeons, nurses and patients. Recently, the learning …
expecting its potential to benefit surgeons, nurses and patients. Recently, the learning …
Super deep: A surgical perception framework for robotic tissue manipulation using deep learning for feature extraction
Robotic automation in surgery requires precise tracking of surgical tools and mapping of
deformable tissue. Previous works on surgical perception frameworks require significant …
deformable tissue. Previous works on surgical perception frameworks require significant …
Markerless camera-to-robot pose estimation via self-supervised sim-to-real transfer
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot
control, and is a process that takes considerable effort and cares to make accurate …
control, and is a process that takes considerable effort and cares to make accurate …
Robot–camera calibration in tightly constrained environment using interactive perception
Manipulation in tight environment is challenging but increasingly common in vision-guided
robotic applications. The significantly reduced amount of available feedback (limited visual …
robotic applications. The significantly reduced amount of available feedback (limited visual …
Semantic-SuPer: a semantic-aware surgical perception framework for endoscopic tissue identification, reconstruction, and tracking
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling
technology toward autonomous robotic surgery. Existing algorithms for 3D perception in …
technology toward autonomous robotic surgery. Existing algorithms for 3D perception in …
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 …
Pose estimation for robot manipulators via keypoint optimization and sim-to-real transfer
Keypoint detection is an essential building block for many robotic applications like motion
capture and pose estimation. Historically, keypoints are detected using uniquely engineered …
capture and pose estimation. Historically, keypoints are detected using uniquely engineered …
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling
technology toward autonomous robotic surgery. Existing algorithms for 3D perception in …
technology toward autonomous robotic surgery. Existing algorithms for 3D perception in …
Markerless suture needle 6d pose tracking with robust uncertainty estimation for autonomous minimally invasive robotic surgery
Suture needle localization is necessary for autonomous suturing. Previous approaches in
autonomous suturing often relied on fiducial markers rather than markerless detection …
autonomous suturing often relied on fiducial markers rather than markerless detection …