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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…