98 citations · 152 across the 17 of their papers we have counts for
7 papers · 1 filter
Voice control interface for surgical robot assistants
Ana Davila, Jacinto Colan, Yasuhisa Hasegawa
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collab…
Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation
Jacinto Colan, Keisuke Sugita, Ana Davila +2
Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discre…
A hierarchical framework for collision avoidance in robot-assisted minimally invasive surgery
Jacinto Colan, Ana Davila, Khusniddin Fozilov +1
Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and…
Comparison of fine-tuning strategies for transfer learning in medical image classification
Ana Davila, Jacinto Colan, Yasuhisa Hasegawa
In the context of medical imaging and machine learning, one of the most pressing challenges is the effective adaptation of pre-trained models to specialized medical contexts. Despi…
Manipulability maximization in constrained inverse kinematics of surgical robots
Jacinto Colan, Ana Davila, Yasuhisa Hasegawa
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point.…
Task segmentation based on transition state clustering for surgical robot assistance
Yutaro Yamada, Jacinto Colan, Ana Davila +1
Understanding surgical tasks represents an important challenge for autonomy in surgical robotic systems. To achieve this, we propose an online task segmentation framework that uses…
Constrained Motion Planning for a Robotic Endoscope Holder based on Hierarchical Quadratic Programming
Jacinto Colan, Ana Davila, Yasuhisa Hasegawa
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges ca…