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cs.RO2025
VisionSafeEnhanced VPC: Cautious Predictive Control with Visibility Constraints under Uncertainty for Autonomous Robotic Surgery
Wang Jiayin, Wei Yanran, Jiang Lei +4
Autonomous control of the laparoscope in robot-assisted Minimally Invasive Surgery (MIS) has received considerable research interest due to its potential to improve surgical safety…
cs.RO2025
Image-to-Force Estimation for Soft Tissue Interaction in Robotic-Assisted Surgery Using Structured Light
Jiayin Wang, Mingfeng Yao, Yanran Wei +3
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existin…