4 papers
A Unified Calibration Framework for Coordinate and Kinematic Parameters in Dual-Arm Robots
Tianyu Huang, Bohan Yang, Bin Li +4
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simulta…
Enhanced Scale-aware Depth Estimation for Monocular Endoscopic Scenes with Geometric Modeling
Ruofeng Wei, Bin Li, Kai Chen +3
Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the ge…
Open-source High-precision Autonomous Suturing Framework With Visual Guidance
Hongbin Lin, Bin Li, Yunhui Liu +1
Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based…
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
Yiang Lu, Bin Li, Wei Chen +6
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However,…