4 papers
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
Haonan Peng, Dun-Tin Chiang, Jordan Hendricks +5
Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, learning-based force estimation from robot states suggests desirable ac…
Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots
Haonan Peng, Andrew Lewis, Yun-Hsuan Su +5
Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have oft…
Ablation Study on Features in Learning-based Joints Calibration of Cable-driven Surgical Robots
Haonan Peng, Andrew Lewis, Blake Hannaford
With worldwide implementation, millions of surgeries are assisted by surgical robots. The cable-drive mechanism on many surgical robots allows flexible, light, and compact arms and…
Evaluation of an Inflated Beam Model Applied to Everted Tubes
Joel Hwee, Andrew Lewis, Allison Raines +1
Everted tubes have often been modeled as inflated beams to determine transverse and axial buckling conditions. This paper seeks to validate the assumption that an everted tube can…