4 papers
Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy
Ethan Kilmer, Pit Henrich, Jiawei Ge +13
Autonomous soft-tissue cancer surgery has been limited to interventions on organ surfaces, because current systems cannot perceive and adapt to anatomy once it deforms or is cut. W…
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…
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…