6 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…
Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers
Yanzhou Wang, Lidia Al-Zogbi, Jiawei Liu +6
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compens…
General-purpose foundation models for increased autonomy in robot-assisted surgery
Samuel Schmidgall, Ji Woong Kim, Alan Kuntz +2
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a ta…