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cs.RO2024
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…
cs.RO2024
Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery
Hisashi Ishida, Manish Sahu, Adnan Munawar +5
Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While imag…
cs.RO2019
A Convex Optimization-based Dynamic Model Identification Package for the da Vinci Research Kit
Yan Wang, Radian Gondokaryono, Adnan Munawar +1
The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations and model-based control, the dynamic model of the dVRK is required. We present a…