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 …
Bimanual regrasping for suture needles using reinforcement learning for rapid motion planning
Regrasping a suture needle is an important yet time-consuming process in suturing. To
bring efficiency into regrasping, prior work either designs a task-specific mechanism or …
bring efficiency into regrasping, prior work either designs a task-specific mechanism or …
Simnet: Enabling robust unknown object manipulation from pure synthetic data via stereo
Robot manipulation of unknown objects in unstructured environments is a challenging
problem due to the variety of shapes, materials, arrangements and lighting conditions. Even …
problem due to the variety of shapes, materials, arrangements and lighting conditions. Even …
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 …
Efficiently calibrating cable-driven surgical robots with RGBD fiducial sensing and recurrent neural networks
M Hwang, B Thananjeyan, S Paradis… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such
as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in …
as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in …
Intermittent visual servoing: Efficiently learning policies robust to instrument changes for high-precision surgical manipulation
S Paradis, M Hwang, B Thananjeyan… - … on Robotics and …, 2021 - ieeexplore.ieee.org
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 …
Applying depth-sensing to automated surgical manipulation with a da vinci robot
Recent advances in depth-sensing have significantly increased accuracy, resolution, and
frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD …
frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD …
Towards Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees
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 …
(ARSS) calls for innovative approaches to reduce surgeons' cognitive load, optimize hospital …
Robotic surgery with lean reinforcement learning
As surgical robots become more common, automating away some of the burden of complex
direct human operation becomes ever more feasible. Model-free reinforcement learning …
direct human operation becomes ever more feasible. Model-free reinforcement learning …
All you need is luv: Unsupervised collection of labeled images using invisible uv fluorescent indicators
Large-scale semantic image annotation is a significant challenge for learning-based
perception systems in robotics. Current approaches often rely on human labelers, which can …
perception systems in robotics. Current approaches often rely on human labelers, which can …