4 papers
Data-centric Design of Learning-based Surgical Gaze Perception Models in Multi-Task Simulation
Yizhou Li, Shuyuan Yang, Jiaji Su +1
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learn…
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation
Shuyuan Yang, Zonghe Chua
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing a…
Three Degree-of-Freedom Soft Continuum Kinesthetic Haptic Display for Telemanipulation Via Sensory Substitution at the Finger
Jiaji Su, Kaiwen Zuo, Zonghe Chua
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and…
Vision-Based Force Estimation for Minimally Invasive Telesurgery Through Contact Detection and Local Stiffness Models
Shuyuan Yang, My H. Le, Kyle R. Golobish +2
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and…