3 papers
cs.RO2026
Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning
Noah Barnes, Ji Woong Kim, Lingyun Di +11
In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin wire to a treatment site inside the patient's blood vessels to treat var…
cs.RO2026
Modeling and Control of a Pneumatic Soft Robotic Catheter Using Neural Koopman Operators
Yiyao Yue, Noah Barnes, Lingyun Di +4
Catheter-based interventions are widely used for the diagnosis and treatment of cardiac diseases. Recently, robotic catheters have attracted attention for their ability to improve…
cs.RO2025
Towards Autonomous Robotic Electrosurgery via Thermal Imaging
Naveed D. Riaziat, Joseph Chen, Axel Krieger +1
Electrosurgery is a surgical technique that can improve tissue cutting by reducing cutting force and bleeding. However, electrosurgery adds a risk of thermal injury to surrounding…