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cs.RO2024
Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers
Yanzhou Wang, Lidia Al-Zogbi, Jiawei Liu +6
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compens…
cs.RO2024
General-purpose foundation models for increased autonomy in robot-assisted surgery
Samuel Schmidgall, Ji Woong Kim, Alan Kuntz +2
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a ta…