5 papers
Drone Soccer: Learning to Manipulate with Multicopter Downwash
Neelay Joglekar, Bavin Saravanan, Yutong Wang +3
Although multicopter drones are traditionally designed for "perception-only" tasks, like mapping and exploration, recent work has sought to develop Unmanned Aerial Manipulators (UA…
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…
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…
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…
Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection
Neelay Joglekar, Fei Liu, Ryan Orosco +1
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can signif…