5 papers · 1 filter
Efficient Surgical Robotic Instrument Pose Reconstruction in Real World Conditions Using Unified Feature Detection
Zekai Liang, Kazuya Miyata, Xiao Liang +2
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments condu…
Optimal Motion Scaling for Delayed Telesurgery
Jason Lim, Florian Richter, Zih-Yun Chiu +6
Robotic teleoperation over long communication distances poses challenges due to delays in commands and feedback from network latency. One simple yet effective strategy to reduce er…
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter +4
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuit…
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu +4
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well…
Tracking Snake-like Robots in the Wild Using Only a Single Camera
Jingpei Lu, Florian Richter, Shan Lin +1
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes…