6 papers
SurgiQ: A Large-Scale Multi-Domain Benchmark for Evaluating Surgical Understanding in Large Language Models
Ayah Al-Naji, Edoardo Fazzari, Saif Alkindi +3
Reliable evaluation of large language models in surgery remains underdeveloped. Broad medical benchmarks test clinical knowledge, while surgery requires procedural reasoning, manag…
Multimodal Optimal Transport for Training-free Temporal Segmentation in Surgical Robotics
Omar Mohamed, Edoardo Fazzari, Ayah Al-Naji +5
Automated recognition of surgical phases and steps is a fundamental capability for intraoperative decision support, workflow automation, and skill assessment in robotic-assisted su…
Hybrid Offline-Online Reinforcement Learning for Sensorless, High-Precision Force Regulation in Surgical Robotic Grasping
Edoardo Fazzari, Omar Mohamed, Khalfan Hableel +2
Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and d…
Deep-Learning-Based Control of a Decoupled Two-Segment Continuum Robot for Endoscopic Submucosal Dissection
Yuancheng Shao, Yao Zhang, Jia Gu +7
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the developmen…
A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects
Zixi Chen, Di Wu, Qinghua Guan +8
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing…
ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu +5
The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine…