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cs.RO2026
Velocity Optimization via Thermal Imaging Enhances Autonomous Tumor Resection
Naveed D. Riaziat, Jiawei Ge, Ethan Kilmer +6
Objective: To demonstrate and evaluate THERMO, a thermal-velocity optimization algorithm for autonomous electrosurgery, in ex vivo porcine tissue using the UR10e-based ASTR system.…
cs.RO2025
Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning
Noah Barnes, Ji Woong Kim, Lingyun Di +11
In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin wire to a treatment site inside the patient's blood vessels to treat var…
cs.RO2025
Towards Autonomous Robotic Electrosurgery via Thermal Imaging
Naveed D. Riaziat, Joseph Chen, Axel Krieger +1
Electrosurgery is a surgical technique that can improve tissue cutting by reducing cutting force and bleeding. However, electrosurgery adds a risk of thermal injury to surrounding…