6 papers
Towards Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator
Haoying Zhou, Hao Yang, Brendan Burkhart +5
The da Vinci Research Kit (dVRK) is widely used for research in robot-assisted surgery, but most modeling and control methods target the first-generation dVRK Classic. The recently…
SurgSync: Time-Synchronized Multi-Modal Data Collection Framework and Dataset for Surgical Robotics
Haoying Zhou, Chang Liu, Yimeng Wu +7
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots woul…
SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking
Zijian Wu, Adam Schmidt, Randy Moore +4
Accurate and efficient surgical robotic tool pose estimation is of fundamental significance to downstream applications such as augmented reality (AR) in surgical training and learn…
SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking
Jin Wu, Haoying Zhou, Peter Kazanzides +2
Despite advancements in robotic-assisted surgery, automating complex tasks like suturing remain challenging due to the need for adaptability and precision. Learning-based approache…
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Haoying Zhou, Hao Yang, Anton Deguet +3
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Su…
FIRE-3DV: Framework-Independent Rendering Engine for 3D Graphics using Vulkan
Christopher John Allison, Haoying Zhou, Adnan Munawar +2
Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic da…