33 citations · 90 across the 12 of their papers we have counts for
14 papers
MV-dVRK: A Multi-Viewpoint Benchmark for Spatial Surgical Perception
Guido Caccianiga, Sergey Prokudin, Yutong Chen +9
Large-scale training and refined optimization techniques have greatly improved sparse multi-view 3D reconstruction. Despite their relevance to surgery, such methods have never befo…
Touching the tumor boundary: A pilot study on ultrasound based virtual fixtures for breast-conserving surgery
Laura Connolly, Tamas Ungi, Adnan Munawar +5
Purpose: Delineating tumor boundaries during breast-conserving surgery is challenging as tumors are often highly mobile, non-palpable, and have irregularly shaped borders. To addre…
SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
Laura Connolly, Aravind S. Kumar, Kapi Ketan Mehta +9
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (R…
Open-Source Multi-Viewpoint Surgical Telerobotics
Guido Caccianiga, Yarden Sharon, Bernard Javot +6
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and con…
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…
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall +4
We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder str…
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…
Integrating 3D Slicer with a Dynamic Simulator for Situational Aware Robotic Interventions
Manish Sahu, Hisashi Ishida, Laura Connolly +6
Image-guided robotic interventions represent a transformative frontier in surgery, blending advanced imaging and robotics for improved precision and outcomes. This paper addresses…
Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study
Hongbin Lin, Qian Gao, Xiangyu Chu +4
Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown syste…
Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario
Yonghao Long, Jianfeng Cao, Anton Deguet +2
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic…
Telerobotic Operation of Intensive Care Unit Ventilators
Balazs P. Vagvolgyi, Mikhail Khrenov, Jonathan Cope +5
Since the first reports of a novel coronavirus (SARS-CoV-2) in December 2019, over 33 million people have been infected worldwide and approximately 1 million people worldwide have…
A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces
Hongbin Lin, C. W. Vincent Hui, Yan Wang +3
External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing…
Hybrid Robot-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries
Zhaoshuo Li, Mahya Shahbazi, Niravkumar Patel +9
High-resolution real-time intraocular imaging of retina at the cellular level is very challenging due to the vulnerable and confined space within the eyeball as well as the limited…
A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +5
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and ro…