3 papers
cs.CV2026
ARport: An Augmented Reality System for Markerless Image-Guided Port Placement in Robotic Surgery
Zheng Han, Zixin Yang, Yonghao Long +3
Purpose: Precise port placement is a critical step in robot-assisted surgery, where port configuration influences both visual access to the operative field and instrument maneuvera…
cs.RO2026
An Extended Generalized Prandtl-Ishlinskii Hysteresis Model for I2RIS Robot
Yiyao Yue, Mojtaba Esfandiari, Pengyuan Du +5
Retinal surgery requires extreme precision due to constrained anatomical spaces in the human retina. To assist surgeons achieve this level of accuracy, the Improved Integrated Robo…
cs.RO2025
Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
Mojtaba Esfandiari, Pengyuan Du, Haochen Wei +4
Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction betw…