5 papers · 1 filter
Shaft-integrated Force Sensing with Transformer-based Dynamics Compensation for Telesurgery
Shuyuan Yang, Grant Boone, Timo Markert +4
Robot-Assisted Minimally Invasive Surgery (RAMIS) enhances surgeon dexterity, with newer platforms leveraging haptic feedback to further improve performance. Such force information…
A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers
Kaiwen Zuo, Shuyuan Yang, Zonghe Chua
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deforma…
Data-centric Design of Learning-based Surgical Gaze Perception Models in Multi-Task Simulation
Yizhou Li, Shuyuan Yang, Jiaji Su +1
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learn…
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation
Shuyuan Yang, Zonghe Chua
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing a…
Vision-Based Force Estimation for Minimally Invasive Telesurgery Through Contact Detection and Local Stiffness Models
Shuyuan Yang, My H. Le, Kyle R. Golobish +2
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and…