1 citations · 3 across the 22 of their papers we have counts for
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Live Thread Reconstruction for Autonomous Manipulation
Emma Huang, Omar Hernandez, Zih-Yun Chiu +1
Autonomous robotic surgery has drawn increased attention in recent years due to its potential to relieve surgeons of time-consuming, mentally straining, and tedious tasks, particul…
Integrated Respiratory Sensing and Gated Control for Autonomous Needle Insertion Via CT Bore Robotic Arm
Emma Huang, Moira Bohley, Krishna Jamakhandi +10
Currently, CT-guided lung biopsy is a highly manual procedure requiring patient breath-holding, iterative manual needle insertions, and repeated CT confirmation scans to accurately…
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…
Bi-manual Stabilization of the Cervical Spine for Safe Physical Human-Robot Interaction in Rolling Maneuvers
Elizabeth Peiros, Moira Bohley, Lucas Yager +6
The neck, specifically the cervical spine, is a highly fragile and mobile part of the body with a high risk of catastrophic injury. Whether someone is injured on a battlefield, in…
SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation
Changwei Chen, Xiao Liang, Yinuo Yang +6
Paired video-action demonstrations enable autonomous surgical behavior, but such data is scarce: robots perform roughly 1% of surgeries, while video-only data is abundant. Learning…
Shaft-Configuration-Adaptive Catheter Tip Position Estimation via Motor-History Conditioned Residual Learning
Peihan Zhang, Michael C. Yip, Ankur Kapoor +1
Tendon-driven continuum manipulators are widely used in medical applications, where accurate tip-position estimation is essential for precise navigation and instrument positioning.…
Reeling It In: Flexible Needle Pick Up via Thread Manipulation for Autonomous Suturing
Emma Huang, Zih-Yun Chiu, Neelay Joglekar +2
Suture-needle pickup is necessary for autonomous suturing, as a needle can be unexpectedly dropped or strategically released to adjust the grasping configuration. Current methods f…
The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation
Yao-Ting Huang, Jake Honma, Omar Hernandez +4
Humans rely on directional fingertip forces to probe and regulate contact during manipulation, yet most wearable haptic gloves render only vibration or single-axis force, leaving f…
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…