6 papers
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,…
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…
From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction
Ayberk Acar, Mariana Smith, Lidia Al-Zogbi +14
Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however t…
Towards Fluorescence-Guided Autonomous Robotic Partial Nephrectomy on Novel Tissue-Mimicking Hydrogel Phantoms
Ethan Kilmer, Joseph Chen, Jiawei Ge +7
Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and…
Surgical Gaussian Surfels: Highly Accurate Real-time Surgical Scene Rendering using Gaussian Surfels
Idris O. Sunmola, Zhenjun Zhao, Samuel Schmidgall +4
Accurate geometric reconstruction of deformable tissues in monocular endoscopic video remains a fundamental challenge in robot-assisted minimally invasive surgery. Although recent…
LUDO: Low-Latency Understanding of Deformable Objects using Point Cloud Occupancy Functions
Pit Henrich, Franziska Mathis-Ullrich, Paul Maria Scheikl
Accurately determining the shape of deformable objects and the location of their internal structures is crucial for medical tasks that require precise targeting, such as robotic bi…