3 papers
cs.RO2026
Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator
Haoying Zhou, Hao Yang, Brendan Burkhart +6
The da Vinci Research Kit (dVRK) has been widely used for research in robot-assisted surgery over the past decade, and its latest generation, the dVRK-Si was made publicly availabl…
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.RO2025
PERSEUS: Perception with Semantic Endoscopic Understanding and SLAM
Ayberk Acar, Fangjie Li, Susheela Sharma Stern +9
Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to v…