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cs.RO2026
SurgCalib: Gaussian Splatting-Based Hand-Eye Calibration for Robot-Assisted Minimally Invasive Surgery
Zijian Wu, Shuojue Yang, Yu Chung Lee +3
We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transfo…
cs.RO2022
Towards Transcervical Ultrasound Image Guidance for Transoral Robotic Surgery
Wanwen Chen, Megha Kalia, Qi Zeng +6
Purpose: Trans-oral robotic surgery (TORS) using the da Vinci surgical robot is a new minimally-invasive surgery method to treat oropharyngeal tumors, but it is a challenging opera…