3 papers
cs.RO2026
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Ravi Prakash, Vincent Y. Wang, Arpit Mishra +5
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedb…
cs.RO2024
Sampling-Based Model Predictive Control for Volumetric Ablation in Robotic Laser Surgery
Vincent Y. Wang, Ravi Prakash, Siobhan R. Oca +3
Laser-based surgical ablation relies heavily on surgeon involvement, restricting precision to the limits of human error. The interaction between laser and tissue is governed by var…
cs.RO2024
Design and Evaluation of a Compliant Quasi Direct Drive End-effector for Safe Robotic Ultrasound Imaging
Danyi Chen, Ravi Prakash, Vincent Y. Wang +9
Robot-assisted ultrasound scanning promises to advance autonomous and accessible medical imaging. However, ensuring patient safety and compliant human-robot interaction during prob…