68 citations · 210 across the 29 of their papers we have counts for
12 papers · 1 filter
Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue
Will Pryor, Yotam Barnoy, Suraj Raval +7
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localizatio…
Orientation Matters: 6-DoF Autonomous Camera Movement for Minimally Invasive Surgery
Alaa Eldin Abdelaal, Nancy Hong, Apeksha Avinash +4
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the pos…
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration
Ji Woong Kim, Changyan He, Muller Urias +4
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a pr…
The Role of Robotics in Infectious Disease Crises
Gregory Hager, Vijay Kumar, Robin Murphy +2
The recent coronavirus pandemic has highlighted the many challenges faced by the healthcare, public safety, and economic systems when confronted with a surge in patients that requi…
"Good Robot!": Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer
Andrew Hundt, Benjamin Killeen, Nicholas Greene +4
Current Reinforcement Learning (RL) algorithms struggle with long-horizon tasks where time can be wasted exploring dead ends and task progress may be easily reversed. We develop th…
Evaluating Methods for End-User Creation of Robot Task Plans
Chris Paxton, Felix Jonathan, Andrew Hundt +2
How can we enable users to create effective, perception-driven task plans for collaborative robots? We conducted a 35-person user study with the Behavior Tree-based CoSTAR system t…