6 papers
Drape-Compatible Tool-Tip Localization for Hand-Held Laparoscopic Instruments via UWB Carrier-Phase Ranging and Trocar-Constrained Geometry
Jinseok Lee, Dongho Yee, Minsung Kim +8
A surgical robot policy needs to know where each instrument's working end sits relative to the camera and to the other instrument, yet a laparoscopic operation leaves only the endo…
Contact-Adaptive Robotic Ultrasound Probe Control for Tissue Exploration and Continuous Task-Relevant Visualization Using Robot-Free Image-Motion Demonstration
Seong Jeong, Minsung Kim, Dongho Yee +8
Robotic ultrasound commonly targets standardized views, predefined scanning protocols, or expert-scan reproduction. We target a different role: while a clinician performs the prima…
Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation
Minsung Kim, Seonho Shim, Dongho Yee +9
High-performance surgical master consoles offer intuitive articulated manipulation but are expensive and difficult to reproduce, while accessible commercial haptic devices lack bui…
Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation
Juahn Oh, Dongho Yee, Jinseok Lee +10
Closed-loop evaluation of surgical robots requires tissue that deforms, can be grasped and lifted, and reproduces the anatomy in which the robot will operate. We present a simulato…
From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations
Dongho Yee, Juahn Oh, Jinseok Lee +10
Most minimally invasive surgery is still performed with hand-held laparoscopic instruments, and the surgeon's instrument kinematics are lost when the operation ends; only the endos…
Recording Hand-Held Laparoscopic Instrument Motion in the Operating Room: Magnetometer-Free Fusion of Inertial, Range and Visual Sensing
Jiyul Lee, Dongho Yee, Juahn Oh +9
Most minimally invasive procedures are still performed with hand-held laparoscopic instruments, yet only the endoscopic video is retained; the instrument motion that expresses surg…