16 citations · 27 across the 8 of their papers we have counts for
9 papers
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning
Michael Bentley, Caleb Rucker, Alan Kuntz
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions…
Autonomous Medical Needle Steering In Vivo
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop +10
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle…
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots
Yixuan Huang, Michael Bentley, Tucker Hermans +1
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future…
Planning Sensing Sequences for Subsurface 3D Tumor Mapping
Brian Y. Cho, Tucker Hermans, Alan Kuntz
Surgical automation has the potential to enable increased precision and reduce the per-patient workload of overburdened human surgeons. An effective automation system must be able…
DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation
Bao Thach, Alan Kuntz, Tucker Hermans
In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires a…
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop +8
Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone i…