6 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,…
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…
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…
Tracking Tumors under Deformation from Partial Point Clouds using Occupancy Networks
Pit Henrich, Jiawei Liu, Jiawei Ge +5
To track tumors during surgery, information from preoperative CT scans is used to determine their position. However, as the surgeon operates, the tumor may be deformed which presen…