Publications (6)
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction
Ayberk Acar, Mariana Smith, Lidia Al-Zogbi +14
Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however t…
A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe
Mariana Smith, Tanner Watts, Susheela Sharma Stern +15
Concentric tube robots (CTRs) offer dexterous motion at millimeter scales, enabling minimally invasive procedures through natural orifices. This work presents a coordinated model-b…
DefFusionNet: Learning Multimodal Goal Shapes for Deformable Object Manipulation via a Diffusion-based Probabilistic Model
Bao Thach, Siyeon Kim, Britton Jordan +6
Deformable object manipulation is critical to many real-world robotic applications, ranging from surgical robotics and soft material handling in manufacturing to household tasks li…
PinPoint: Monocular Needle Pose Estimation for Robotic Suturing via Stein Variational Newton and Geometric Residuals
Jesse F. d'Almeida, Tanner Watts, Susheela Sharma Stern +3
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic…
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation
Bao Thach, Tanner Watts, Shing-Hei Ho +2
Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with th…