Deformable object manipulation in caregiving scenarios: A review
This paper reviews the robotic manipulation of deformable objects in caregiving scenarios.
Deformable objects like clothing, food, and medical supplies are ubiquitous in care tasks, yet …
Deformable objects like clothing, food, and medical supplies are ubiquitous in care tasks, yet …
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) …
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 …
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots
S Schmidgall, A Krieger… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Recent advances in robot-assisted surgery have resulted in progressively more precise,
efficient, and minimally invasive procedures, sparking a new era of robotic surgical …
efficient, and minimally invasive procedures, sparking a new era of robotic surgical …
Sculptbot: Pre-trained models for 3d deformable object manipulation
Deformable object manipulation presents a unique set of challenges in robotic manipulation
by exhibiting high degrees of freedom and severe self-occlusion. Choosing state …
by exhibiting high degrees of freedom and severe self-occlusion. Choosing state …
Movement primitive diffusion: Learning gentle robotic manipulation of deformable objects
Policy learning in robot-assisted surgery (RAS) lacks data efficient and versatile methods
that exhibit the desired motion quality for delicate surgical interventions. To this end, we …
that exhibit the desired motion quality for delicate surgical interventions. To this end, we …
Autonomous blood suction for robot-assisted surgery: A sim-to-real reinforcement learning approach
Recent applications of deep reinforcement learning (DRL) in surgical autonomy have shown
promising results in automating various surgical sub-tasks. While most of these studies …
promising results in automating various surgical sub-tasks. While most of these studies …
Real-to-sim deformable object manipulation: Optimizing physics models with residual mappings for robotic surgery
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …
Deep reinforcement learning in surgical robotics: enhancing the automation level
C Qian, H Ren - Handbook of Robotic Surgery, 2025 - Elsevier
Surgical robotics is a rapidly evolving field that is transforming the landscape of surgeries.
Surgical robots have been shown to enhance precision, minimize invasiveness, and …
Surgical robots have been shown to enhance precision, minimize invasiveness, and …
[HTML][HTML] SafeRPlan: Safe deep reinforcement learning for intraoperative planning of pedicle screw placement
Spinal fusion surgery requires highly accurate implantation of pedicle screw implants, which
must be conducted in critical proximity to vital structures with a limited view of the anatomy …
must be conducted in critical proximity to vital structures with a limited view of the anatomy …