110 citations · 255 across the 34 of their papers we have counts for
34 papers
ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
Sara Wickenhiser, Lizzie Peiros, Calvin Joyce +8
Robotic exploration in extreme environments, such as caves, oceans, and extraplanetary surfaces, poses significant challenges, specifically locomotion across diverse terrains. Conv…
Stable Tracking-in-the-Loop Control of Cable-Driven Surgical Manipulators under Erroneous Kinematic Chains
Neelay Joglekar, Fei Liu, Florian Richter +1
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavit…
Optimal Motion Scaling for Delayed Telesurgery
Jason Lim, Florian Richter, Zih-Yun Chiu +6
Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce er…
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments
Zekai Liang, Zih-Yun Chiu, Florian Richter +1
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgica…
Autonomous Image-to-Grasp Robotic Suturing Using Reliability-Driven Suture Thread Reconstruction
Neelay Joglekar, Fei Liu, Florian Richter +1
Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing t…
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments
Nikhil Uday Shinde, Xiao Liang, Fei Liu +4
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and sut…
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter +4
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuit…
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu +4
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well…
HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management
Albert J. Miao, Shan Lin, Jingpei Lu +5
Hemorrhaging occurs in surgeries of all types, forcing surgeons to quickly adapt to the visual interference that results from blood rapidly filling the surgical field. Introducing…
NASU -- Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots
Calvin Joyce, Jason Lim, Roger Nguyen +5
Screw-based locomotion is a robust method of locomotion across a wide range of media including water, sand, and gravel. A challenge with screws is their significant number of impac…
Tracking Snake-like Robots in the Wild Using Only a Single Camera
Jingpei Lu, Florian Richter, Shan Lin +1
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes…
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
Shan Lin, Albert J. Miao, Ali Alabiad +5
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mit…
Investigating Low Data, Confidence Aware Image Prediction on Smooth Repetitive Videos using Gaussian Processes
Nikhil U. Shinde, Xiao Liang, Florian Richter +1
The ability to predict future states is crucial to informed decision-making while interacting with dynamic environments. With cameras providing a prevalent and information-rich sen…
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
Jingpei Lu, Florian Richter, Michael C. Yip
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditiona…
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
Jason Lim, Calvin Joyce, Elizabeth Peiros +6
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, inclu…
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Florian Richter, Michael C. Yip
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for au…
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking
Shan Lin, Albert J. Miao, Jingpei Lu +4
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in…
Image Based Reconstruction of Liquids from 2D Surface Detections
Florian Richter, Ryan K. Orosco, Michael C. Yip
In this work, we present a solution to the challenging problem of reconstructing liquids from image data. The challenges in reconstructing liquids, which is not faced in previous r…
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling
Florian Richter, Emily K. Funk, Won Seo Park +2
Innovations from surgical robotic research rarely translates to live surgery due to the significant difference between the lab and a live environment. Live environments require con…
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Albert Z Liao, Florian Richter +2
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection scheme…
ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility
Florian Richter, Peter V. Gavrilov, Hoi Man Lam +2
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. Thes…
Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations
Jingbin Huang, Fei Liu, Florian Richter +1
Recent developments in surgical robotics have led to new advancements in the automation of surgical sub-tasks such as suturing, soft tissue manipulation, tissue tensioning and cutt…
Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach
Florian Richter, Jingpei Lu, Ryan K. Orosco +1
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capt…
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
Zih-Yun Chiu, Florian Richter, Emily K. Funk +2
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guide…