1 citations · 2 across the 12 of their papers we have counts for
15 papers
ProCut: Probabilistic Cutting Topology for Autonomous Electrosurgical Tissue Dissection
Xiao Liang, Fei Liu, Florian Richter +2
Accurately modeling and tracking the deformation of soft tissue is critical for a wide range of interventional and surgical procedures. However, current methods struggle in scenari…
Robust Surgical Robotic Instrument Tracking via Sequential Multi-Cue Fusion and Sim-to-Real Self-Training
Hanyang Hu, Zekai Liang, Florian Richter +1
Efficient and robust tracking of surgical robotic instruments is important for robot-assisted minimally invasive surgery, yet remains challenging due to the complexity of surgical…
Humanoids for Robot-Assisted Surgery: Bimanual Base Placement and Tool-Mount Optimization via Capability Maps
Peihan Zhang, Zekai Liang, Florian Richter +4
Rapid advances in humanoid robotics have motivated growing interest in the application of humanoids for healthcare and clinical tasks. However, it remains unclear how close contemp…
In vivo feasibility study of humanoid robots in surgery
Zekai Liang, Nikita Thareja, Peihan Zhang +7
Recent advances in actuation, control and learning have rapidly pushed humanoid robots from a distant vision towards near-term real-world deployment. Healthcare is a particularly p…
Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization
Hanyang Hu, Zekai Liang, Florian Richter +1
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled marker…
Towards Autonomous Tape Handling for Robotic Wound Redressing
Xiao Liang, Lu Shen, Peihan Zhang +3
Chronic wounds, such as diabetic, pressure, and venous ulcers, affect over 6.5 million patients in the United States alone and generate an annual cost exceeding $25 billion. Despi…
Efficient Surgical Robotic Instrument Pose Reconstruction in Real World Conditions Using Unified Feature Detection
Zekai Liang, Kazuya Miyata, Xiao Liang +2
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments condu…
Feedback Matters: Augmenting Autonomous Dissection with Visual and Topological Feedback
Chung-Pang Wang, Changwei Chen, Xiao Liang +3
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability…
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
Zekai Liang, Xiao Liang, Soofiyan Atar +7
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoptio…
In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer
Soofiyan Atar, Daniel Huang, Florian Richter +1
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynami…
Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
Peihan Zhang, Derek Chen, Florian Richter +7
Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prol…
Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
Soofiyan Atar, Xiao Liang, Calvin Joyce +5
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to…
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…
KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
Soofiyan Atar, Yuheng Zhi, Florian Richter +1
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D…