1 citations · 2 across the 8 of their papers we have counts for
10 papers
Observation-Referenced Tissue Deformation Forecasting with Tool-Driven and Residual Dynamics
Tom Olesch, Nan Xiao, Xiongye Xiao +2
Forecasting tissue deformation from future instrument motion could support predictive planning and increasingly autonomous surgical systems. We study this problem using a scene-spe…
Refine Where It Matters: Contact-Adaptive Meshing for Deformable Object Manipulation
Gabriel Johnson, Tom Olesch, Fei Liu
Deformable-object manipulation requires accurate modeling of highly localized contact while maintaining simulation speeds suitable for interactive use. Uniformly fine tetrahedral m…
arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery
Nan Xiao, Yunxin Fan, Farong Wang +1
Affordance reasoning provides a principled link between perception and action, yet remains underexplored in surgical robotics, where tissues are highly deformable, compliant, and d…
Surface-Constrained Offline Warping with Contact-Aware Online Pose Projection for Safe Robotic Trajectory Execution
Farong Wang, Sai Swaminathan, Fei Liu
Robotic manipulation tasks that require repeated tool motion along curved surfaces frequently arise in surface finishing, inspection, and guided interaction. In practice, nominal m…
Stable Tracking-in-the-Loop Control of Cable-Driven Surgical Manipulators under Erroneous Kinematic Chains
Neelay Joglekar, Fei Liu, Florian Richter +1
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavit…
MEDiC: Autonomous Surgical Robotic Assistance to Maximizing Exposure for Dissection and Cautery
Xiao Liang, Chung-Pang Wang, Nikhil Uday Shinde +3
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy,…
AutoPeel: Adhesion-aware Safe Peeling Trajectory Optimization for Robotic Wound Care
Xiao Liang, Youcheng Zhang, Fei Liu +2
Chronic wounds, including diabetic ulcers, pressure ulcers, and ulcers secondary to venous hypertension, affects more than 6.5 million patients and a yearly cost of more than $25 b…
Autonomous Image-to-Grasp Robotic Suturing Using Reliability-Driven Suture Thread Reconstruction
Neelay Joglekar, Fei Liu, Florian Richter +1
Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing t…
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments
Nikhil Uday Shinde, Xiao Liang, Fei Liu +4
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and sut…
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu +4
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well…