Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive
surgeries by expert surgeons. However, long procedures filled with tedious and repetitive …

Advancements in robot-assisted surgery have been rapidly growing since two decades ago.
More recently, the automation of robotic surgical tasks has become the focus of research. In …

We present STITCH: an augmented dexterity pipeline that performs Suture Throws Including
Thread Coordination and Handoffs. STITCH iteratively performs needle insertion, thread …

Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of
staged environments, accurate localization of suture needles is a critical foundation for …

Controlling robotic manipulators via visual feedback requires a known coordinate frame
transformation between the robot and the camera. Uncertainties in mechanical systems as …

In this work, we develop an open-source surgical simulation environment that includes a
realistic model obtained by MRI-scanning a physical phantom, for the purpose of training …

We present a task pose planner for a robustly safe automation of suture looping tasks in
robotic assisted minimally invasive surgery (RAMIS). Our approach uses pre-planned spiral …

Image-guided needle pose estimation is crucial for robotic autonomous suturing, but it poses
significant challenges due to the needle's slender visual projection and dynamic surgical …

State-of-the-art research of traditional computer vision is increasingly leveraged in the
surgical domain. A particular focus in computer-assisted surgery is to replace marker-based …

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 …