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cs.RO2022
Rethinking Causality-driven Robot Tool Segmentation with Temporal Constraints
Hao Ding, Jie Ying Wu, Zhaoshuo Li +1
Purpose: Vision-based robot tool segmentation plays a fundamental role in surgical robots and downstream tasks. CaRTS, based on a complementary causal model, has shown promising pe…
cs.RO2020
Estimation of Trocar and Tool Interaction Forces on the da Vinci Research Kit with Two-Step Deep Learning
Jie Ying Wu, Nural Yilmaz, Peter Kazanzides +1
Measurement of environment interaction forces during robotic minimally-invasive surgery would enable haptic feedback to the surgeon, thereby solving one long-standing limitation. E…
cs.RO2020
Leveraging Vision and Kinematics Data to Improve Realism of Biomechanic Soft-tissue Simulation for Robotic Surgery
Jie Ying Wu, Peter Kazanzides, Mathias Unberath
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, F…