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Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State
Zonghe Chua, Anthony M. Jarc, Allison M. Okamura
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, di…
Evaluation of Non-Collocated Force Feedback Driven by Signal-Independent Noise
Zonghe Chua, Allison M. Okamura, Darrel R. Deo
Individuals living with paralysis or amputation can operate robotic prostheses using input signals based on their intent or attempt to move. Because sensory function is lost or dim…
Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation
Zonghe Chua, Anthony M. Jarc, Sherry Wren +2
The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery (RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian modeling theory suggests tha…