8 papers
Object-Centered Reconstruction for Vision-Based 3D Force Estimation
Zhonghao Zhang, Mingyeung Wu, Hao Yang +3
Excessive force may damage tissue and increase the risk of anastomotic leakage in robotic colorectal surgery. Although the da Vinci 5 provides force sensing, this capability is una…
Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction
Lidia Al-Zogbi, Fangjie Li, Samuel Tobin +13
Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for probabilistic mesh state estimat…
Transferable Tool-Tissue Contact Detection from Stereo Depth in Robot-Assisted Surgery
Mingyeung Wu, Zhonghao Zhang, Hao Yang +2
Reliable tool--tissue contact detection can support interaction-aware control and downstream force estimation in robot-assisted surgery. Most existing methods learn a contact class…
A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe
Mariana Smith, Tanner Watts, Susheela Sharma Stern +15
Concentric tube robots (CTRs) offer dexterous motion at millimeter scales, enabling minimally invasive procedures through natural orifices. This work presents a coordinated model-b…
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…
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…
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…
Zero-shot Prompt-based Video Encoder for Surgical Gesture Recognition
Mingxing Rao, Yinhong Qin, Soheil Kolouri +2
Purpose: In order to produce a surgical gesture recognition system that can support a wide variety of procedures, either a very large annotated dataset must be acquired, or fitted…