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cs.RO2026
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…
cs.RO2025
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…
cs.RO2024
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…