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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…
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…
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…