5 papers
Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots
Haonan Peng, Andrew Lewis, Yun-Hsuan Su +5
Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have oft…
Optimization of Trajectories for Machine Learning Training in Robot Accuracy Modeling
Blake Hannaford
Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexib…
Ablation Study on Features in Learning-based Joints Calibration of Cable-driven Surgical Robots
Haonan Peng, Andrew Lewis, Blake Hannaford
With worldwide implementation, millions of surgeries are assisted by surgical robots. The cable-drive mechanism on many surgical robots allows flexible, light, and compact arms and…
Real-time Virtual Intraoperative CT for Image Guided Surgery
Yangming Li, Neeraja Konuthula, Ian M. Humphreys +3
Abstract. Purpose: This paper presents a scheme for generating virtual intraoperative CT scans in order to improve surgical completeness in Endoscopic Sinus Surgeries (ESS). Approa…
Real-time Informative Surgical Skill Assessment with Gaussian Process Learning
Yangming Li, Randall Bly, Sarah Akkina +5
Endoscopic Sinus and Skull Base Surgeries (ESSBSs) is a challenging and potentially dangerous surgical procedure, and objective skill assessment is the key components to improve th…