4 citations · 12 across the 10 of their papers we have counts for
10 papers
SurgFormer: Scalable Learning of Organ Deformation with Resection Support and Real-Time Inference
Ashkan Shahbazi, Elaheh Akbari, Kyvia Pereira +7
We introduce SurgFormer, a multiresolution gated transformer for data driven soft tissue simulation on volumetric meshes. High fidelity biomechanical solvers are often too costly f…
Neural-Augmented Kelvinlet for Real-Time Soft Tissue Deformation Modeling
Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman +9
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve rea…
A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots
Garrison L. H. Johnston, Neel Shihora, Nabil Simaan
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profi…
Multi-Modal Gesture Recognition from Video and Surgical Tool Pose Information via Motion Invariants
Jumanh Atoum, Garrison L. H. Johnston, Nabil Simaan +1
Recognizing surgical gestures in real-time is a stepping stone towards automated activity recognition, skill assessment, intra-operative assistance, and eventually surgical automat…
A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics
Madison Veliky, Garrison L. H. Johnston, Ahmet Yildiz +1
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by t…
Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing
Giuseppe Del Giudice, Garrison L. H. Johnston, Nabil Simaan
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand s…
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, es…
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting hea…
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization
Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan +2
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby pe…
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined s…