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Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning
Zhaoxuan Yan, Kaizhong Deng, Zhaoyang Jacopo Hu +2
Robot-Assisted Surgery is integral to modern minimally invasive procedures, with automation emerging as the next frontier to enhance precision and reduce surgeon fatigue. This evol…
Model selection and real-time skill assessment for suturing in robotic surgery
Zhaoyang Jacopo Hu, Alex Ranne, Alaa Eldin Abdelaal +4
Automated feedback systems have the potential to provide objective skill assessment for training and evaluation in robot-assisted surgery. In this study, we examine methods to achi…
Confidence-based Intent Prediction for Teleoperation in Bimanual Robotic Suturing
Zhaoyang Jacopo Hu, Haozheng Xu, Sion Kim +3
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and gene…
Hybrid Deep Reinforcement Learning for Radio Tracer Localisation in Robotic-assisted Radioguided Surgery
Hanyi Zhang, Kaizhong Deng, Zhaoyang Jacopo Hu +2
Radioguided surgery, such as sentinel lymph node biopsy, relies on the precise localization of radioactive targets by non-imaging gamma/beta detectors. Manual radioactive target de…