4 papers · 1 filter
ProbeMDE: Uncertainty-Guided Active Proprioception for Monocular Depth Estimation in Surgical Robotics
Britton Jordan, Jordan Thompson, Jesse F. d'Almeida +8
Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical…
Early Failure Detection in Autonomous Surgical Soft-Tissue Manipulation via Uncertainty Quantification
Jordan Thompson, Ronald Koe, Anthony Le +3
Autonomous surgical robots are a promising solution to the increasing demand for surgery amid a shortage of surgeons. Recent work has proposed learning-based approaches for the aut…
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery
Zohre Karimi, Shing-Hei Ho, Bao Thach +2
Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making proces…
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks
Jordan Thompson, Brian Y. Cho, Daniel S. Brown +1
Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce unce…