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cs.RO2024
A Hybrid Model and Learning-Based Force Estimation Framework for Surgical Robots
Hao Yang, Haoying Zhou, Gregory S. Fischer +1
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled…
cs.RO2024
An Effectiveness Study Across Baseline and Learning-based Force Estimation Methods on the da Vinci Research Kit Si System
Hao Yang, Ayberk Acar, Keshuai Xu +3
Robot-assisted minimally invasive surgery, such as through the da Vinci systems, improves precision and patient outcomes. However, da Vinci systems prior to da Vinci 5, lacked dire…