7 papers
Transferable Tool-Tissue Contact Detection from Stereo Depth in Robot-Assisted Surgery
Mingyeung Wu, Zhonghao Zhang, Hao Yang +2
Reliable tool--tissue contact detection can support interaction-aware control and downstream force estimation in robot-assisted surgery. Most existing methods learn a contact class…
Neural Operators for Design-Space Surrogate Modeling of Tendon-Actuated Continuum Robots
Branden Frieden, James M. Ferguson, Alan Kuntz +1
Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-ba…
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…
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…
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…