8 papers
Characterization of Constraints in Flexible Unknown Environments
Samrat Bhattacharyya, Nabil Simaan
This paper presents an online path planning algorithm for safe autonomous manipulation of a flexibly constrained object in an unknown environment. Methods for real time identificat…
SurgFormer: Scalable Learning of Organ Deformation with Resection Support and Real-Time Inference
Ashkan Shahbazi, Elaheh Akbari, Kyvia Pereira +7
We introduce SurgFormer, a multiresolution gated transformer for data driven soft tissue simulation on volumetric meshes. High fidelity biomechanical solvers are often too costly f…
Neural-Augmented Kelvinlet for Real-Time Soft Tissue Deformation Modeling
Ashkan Shahbazi, Kyvia Pereira, Jon S. Heiselman +9
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve rea…
Sensorless Remote Center of Motion Misalignment Estimation
Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz +2
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either h…
Exploring Accelerated Skill Acquisition via Tandem Training for Colonoscopy
Olivia Richards, Keith L. Obstein, Nabil Simaan
New endoscopists require a large volume of expert-proctored colonoscopies to attain minimal competency. Developing multi-fingered, synchronized control of a colonoscope requires si…
Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
Jared Lawson, Rohan Chitale, Nabil Simaan
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is pla…