3 papers
cs.RO2026
PinPoint: Monocular Needle Pose Estimation for Robotic Suturing via Stein Variational Newton and Geometric Residuals
Jesse F. d'Almeida, Tanner Watts, Susheela Sharma Stern +3
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic…
cs.RO2025
A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe
Mariana Smith, Tanner Watts, Susheela Sharma Stern +15
Concentric tube robots (CTRs) offer dexterous motion at millimeter scales, enabling minimally invasive procedures through natural orifices. This work presents a coordinated model-b…
cs.CV2025
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…