3 papers
cs.RO2026
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 +9
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…
cs.RO2026
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…
cs.RO2026
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…