110 citations · 361 across the 53 of their papers we have counts for
13 papers · 2 filters
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling
Florian Richter, Emily K. Funk, Won Seo Park +2
Innovations from surgical robotic research rarely translates to live surgery due to the significant difference between the lab and a live environment. Live environments require con…
CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores
Dimitri A. Schreiber, Zhaowei Yu, Hanpeng Jiang +6
Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these pro…
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Albert Z Liao, Florian Richter +2
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection scheme…
ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility
Florian Richter, Peter V. Gavrilov, Hoi Man Lam +2
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. Thes…
Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions
Jacob J. Johnson, Michael C. Yip
This paper introduces Chance Constrained Gaussian Process-Motion Planning (CCGP-MP), a motion planning algorithm for robotic systems under motion and state estimate uncertainties.…
NeRP: Neural Rearrangement Planning for Unknown Objects
Ahmed H. Qureshi, Arsalan Mousavian, Chris Paxton +2
Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of o…