Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency
independent of individual surgeon's skill and experience. Autonomous anastomosis is a …

In recent years, the cable-driven planar robot has made fruitful achievements in many fields,
but the related researches are scarce yet in the industrial engineering field. In this article, as …

Robot-Assisted Minimally Invasive Surgery (RAMIS) has reshaped the standard clinical
practice during the past two decades. Many believe that the next big step in the …

Trajectory tracking control is critical for cable-driven manipulators to achieve long-distance
operation. However, the uncertainties and deformations caused by long-distance …

This article presents the design, development, and motion control of a novel flexible robotic
laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom …

Background Robotic technology is an important tool in surgical innovation, with robots
increasingly being used in the clinical setting. Robots can be used to enhance accuracy …

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 …

The growing need for high levels of autonomy in Autonomous Robotic Surgery Systems
(ARSS) calls for innovative approaches to reduce surgeons' cognitive load, optimize hospital …

In the future, surgical robots will grant the option of executing surgical tasks autonomously,
supervised by the surgeon. We propose a simple framework for learning surgical action …

We introduce a novel approach for learning a complex multi-stage needle pick-and-place
manipulation task for surgical applications using Reinforcement Learning without expert …