253 citations · 279 across the 8 of their papers we have counts for
6 papers · 1 filter
A Bilateral Teleoperation Framework for Dexterous Manipulation
Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang +10
Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular…
Low-Contact Grasping of Soft Tissue with Complex Geometry using a Vortex Gripper
Roman Mykhailyshyn, Ann Majewicz Fey
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or…
Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End
Roman Mykhailyshyn, Jonathan Lee, Mykhailo Mykhailyshyn +2
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Curr…
Uncertainty-aware Self-supervised Learning for Cross-domain Technical Skill Assessment in Robot-assisted Surgery
Ziheng Wang, Andrea Mariani, Arianna Menciassi +2
Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical a…
Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery
Chang Shi, Yi Zheng, Ann Majewicz Fey
Surgical activity recognition and prediction can help provide important context in many Robot-Assisted Surgery (RAS) applications, for example, surgical progress monitoring and est…
Transferrable Operative Difficulty Assessment in Robot-assisted Teleoperation: A Domain Adaptation Approach
Ziheng Wang, Cong Feng, Jie Zhang +1
Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operat…