7 papers
Action-grounded tissue affordance enables anticipatory auto-framing that lowers surgeon cognitive workload during laparoscopic surgery
Jiayu Gu, Yiwei Wang, Jie Zhang +17
In laparoscopy, surgeon gaze tracks where the instruments will act; easing this demand through visual attention modeling requires dense labels of those interaction loci. These enco…
Stage-Aware and Roughness-Constrained Diffusion Policy for Multi-Stage Robotic Polishing
Shuai Ke, Jiexin Zhang, Huan Zhao +7
Polishing is a critical finishing process in high-end manufacturing fields such as aerospace, where surface quality directly affects the service performance and reliability of comp…
Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills
Shuai Ke, Jiexin Zhang, Huan Zhao +4
Diffusion-based imitation learning methods have driven rapid progress in robot dexterous manipulation tasks. However, they have limitations when applied to tasks that involve compl…
Learning-Based Adaptive Control for Surgical Robotic Exposure Task on Deformable Tissues
Jiayi Liu, Kaiqi Wei, Yiwei Wang +2
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for pr…
Optimal Uncertainty-Aware Calibration for the AX=YB Problem
Yanjia Chen, Xiangfei Li, Huan Zhao +4
This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achiev…
Anatomical Prior-Driven Framework for Autonomous Robotic Cardiac Ultrasound Standard View Acquisition
Zhiyan Cao, Zhengxi Wu, Yiwei Wang +5
Cardiac ultrasound diagnosis is critical for cardiovascular disease assessment, but acquiring standard views remains highly operator-dependent. Existing medical segmentation models…