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cs.RO2025
Sensorless Remote Center of Motion Misalignment Estimation
Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz +2
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either h…
cs.RO2025
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Haoying Zhou, Hao Yang, Anton Deguet +3
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Su…