110 citations · 188 across the 19 of their papers we have counts for
3 papers · 1 filter
Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy
Fei Liu, Zihan Li, Yunhai Han +3
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-bas…
Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer
Jingpei Lu, Florian Richter, Michael Yip
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely enginee…
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction
Jingpei Lu, Ambareesh Jayakumari, Florian Richter +2
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant eff…