7 papers
Bayesian Retraction Optimization for Tissue Attachment Mapping in Surgical Dissection
Shing-Hei Ho, Bao Thach, Toan Vo +2
With growing surgeon shortages, automating surgical sub-tasks such as tissue dissection offers a promising step toward reducing workload and expanding patient access. Prior work ha…
Continuum Robot State Estimation with Actuation Uncertainty
James M. Ferguson, Alan Kuntz, Tucker Hermans
Continuum robots are flexible, slender manipulators well suited for confined surgical environments. In these settings, unknown interaction forces and model uncertainty significantl…
Neural Operators for Design-Space Surrogate Modeling of Tendon-Actuated Continuum Robots
Branden Frieden, James M. Ferguson, Alan Kuntz +1
Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-ba…
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…
ProbeMDE: Uncertainty-Guided Active Proprioception for Monocular Depth Estimation in Surgical Robotics
Britton Jordan, Jordan Thompson, Jesse F. d'Almeida +8
Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical…
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…