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Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
PinPoint: Monocular Needle Pose Estimation for Robotic Suturing via Stein Variational Newton and Geometric Residuals
Jesse F. d'Almeida, Tanner Watts, Susheela Sharma Stern +3
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic…
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…
DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation
Bao Thach, Siyeon Kim, Britton Jordan +6
Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for this problem is shape servoing, which aims to control deformable objects t…