1 citations · 3 across the 22 of their papers we have counts for
9 papers · 1 filter
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…
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…
Optimal Motion Scaling for Delayed Telesurgery
Jason Lim, Florian Richter, Zih-Yun Chiu +6
Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce er…
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments
Zekai Liang, Zih-Yun Chiu, Florian Richter +1
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgica…
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…