115 citations · 174 across the 39 of their papers we have counts for
7 papers · 1 filter
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,…
Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot
Zhenya Yang, Yonghao Long, Kai Chen +2
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on develop…
Value-Informed Skill Chaining for Policy Learning of Long-Horizon Tasks with Surgical Robot
Tao Huang, Kai Chen, Wang Wei +3
Reinforcement learning is still struggling with solving long-horizon surgical robot tasks which involve multiple steps over an extended duration of time due to the policy explorati…
Two-Stage Grasping: A New Bin Picking Framework for Small Objects
Hanwen Cao, Jianshu Zhou, Junda Huang +5
This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are condu…
Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning
Yiang Lu, Ruofeng Wei, Bin Li +5
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling unc…
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot
Tao Huang, Kai Chen, Bin Li +2
Task automation of surgical robot has the potentials to improve surgical efficiency. Recent reinforcement learning (RL) based approaches provide scalable solutions to surgical auto…