1 citations · 3 across the 22 of their papers we have counts for
7 papers · 2 filters
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,…
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…
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…
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter +4
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuit…
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…
CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore
Dimitrious Schreiber, Zhaowei Yu, Taylor Henderson +3
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutan…