4 papers · 1 filter
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…
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…
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…