3 citations · 4 across the 10 of their papers we have counts for
10 papers
Characterization of Constraints in Flexible Unknown Environments
Samrat Bhattacharyya, Nabil Simaan
This paper presents an online path planning algorithm for safe autonomous manipulation of a flexibly constrained object in an unknown environment. Methods for real time identificat…
SurgFormer: Scalable Learning of Organ Deformation with Resection Support and Real-Time Inference
Ashkan Shahbazi, Elaheh Akbari, Kyvia Pereira +7
We introduce SurgFormer, a multiresolution gated transformer for data driven soft tissue simulation on volumetric meshes. High fidelity biomechanical solvers are often too costly f…
Exploring Accelerated Skill Acquisition via Tandem Training for Colonoscopy
Olivia Richards, Keith L. Obstein, Nabil Simaan
New endoscopists require a large volume of expert-proctored colonoscopies to attain minimal competency. Developing multi-fingered, synchronized control of a colonoscope requires si…
Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
Jared Lawson, Rohan Chitale, Nabil Simaan
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is pla…
Neural-Augmented Kelvinlet for Real-Time Soft Tissue Deformation Modeling
Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman +9
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve rea…
A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots
Garrison L. H. Johnston, Neel Shihora, Nabil Simaan
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profi…
Multi-Modal Gesture Recognition from Video and Surgical Tool Pose Information via Motion Invariants
Jumanh Atoum, Garrison L. H. Johnston, Nabil Simaan +1
Recognizing surgical gestures in real-time is a stepping stone towards automated activity recognition, skill assessment, intra-operative assistance, and eventually surgical automat…
Sensorless Remote Center of Motion Misalignment Estimation
Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz +2
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either h…
A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics
Madison Veliky, Garrison L. H. Johnston, Ahmet Yildiz +1
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by t…
Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation
Jared Lawson, Madison Veliky, Colette P. Abah +3
Objective: The objective of this work is to introduce and demonstrate the effectiveness of a novel sensing modality for contact detection between an off-the-shelf aspiration cathet…