3 papers
cs.RO2025
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Haoying Zhou, Hao Yang, Anton Deguet +3
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Su…
cs.RO2025
An Effectiveness Study Across Baseline and Learning-based Force Estimation Methods on the da Vinci Research Kit Si System
Hao Yang, Ayberk Acar, Keshuai Xu +3
Robot-assisted minimally invasive surgery, such as through the da Vinci systems, improves precision and patient outcomes. However, da Vinci systems prior to da Vinci 5, lacked dire…
cs.RO2024
A Hybrid Model and Learning-Based Force Estimation Framework for Surgical Robots
Hao Yang, Haoying Zhou, Gregory S. Fischer +1
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled…