3 papers
cs.CV2026
ROBUST-MIPS: A Combined Skeletal Pose and Instance Segmentation Dataset for Laparoscopic Surgical Instruments
Zhe Han, Charlie Budd, Gongyu Zhang +3
Localisation of surgical tools constitutes a foundational building block for computer-assisted interventional technologies. Works in this field typically focus on training deep lea…
cs.RO2026
Learning From a Steady Hand: A Weakly Supervised Agent for Robot Assistance under Microscopy
Huanyu Tian, Martin Huber, Lingyun Zeng +7
This paper rethinks steady-hand robotic manipulation by using a weakly supervised framework that fuses calibration-aware perception with admittance control. Unlike conventional aut…
cs.RO2025
Hydra: Marker-Free RGB-D Hand-Eye Calibration
Martin Huber, Huanyu Tian, Christopher E. Mower +4
This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust poi…