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cs.RO2026
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…
cs.RO2026
PERSEUS: Perception with Semantic Endoscopic Understanding and SLAM
Ayberk Acar, Fangjie Li, Susheela Sharma Stern +9
Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to v…
cs.RO2025
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…