2 papers
cs.RO2024
Robust Path Planning via Learning from Demonstrations for Robotic Catheters in Deformable Environments
Zhen Li, Chiara Lambranzi, Di Wu +5
Objective: Navigation through tortuous and deformable vessels using catheters with limited steering capability underscores the need for reliable path planning. State-of-the-art pat…
cs.RO2024
Vision and Contact based Optimal Control for Autonomous Trocar Docking
Christopher E. Mower, Martin Huber, Huanyu Tian +4
Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectu…