1 citations · 2 across the 6 of their papers we have counts for
6 papers · 1 filter
SurgVIL: Scaling Surgical Robot Imitation Learning with Open-source Surgical Videos
Xinhao Chen, JuoTung Chen, Nigel Nelson +4
Learning-based surgical robot autonomy requires large-scale demonstrations with synchronized videos and robot actions, but such data are exceedingly rare in clinical or realistic t…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
SurgiPose: Estimating Surgical Tool Kinematics from Monocular Video for Surgical Robot Learning
Juo-Tung Chen, XinHao Chen, Ji Woong Kim +3
Imitation learning (IL) has shown immense promise in enabling autonomous dexterous manipulation, including learning surgical tasks. To fully unlock the potential of IL for surgery,…
Cosmos-Surg-dVRK: World Foundation Model-based Automated Online Evaluation of Surgical Robot Policy Learning
Lukas Zbinden, Nigel Nelson, Juo-Tung Chen +5
The rise of surgical robots and vision-language-action models has accelerated the development of autonomous surgical policies and efficient assessment strategies. However, evaluati…
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing
Jesse Haworth, Juo-Tung Chen, Nigel Nelson +4
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numer…
SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learning
Ji Woong Kim, Juo-Tung Chen, Pascal Hansen +11
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation ove…