110 citations · 361 across the 53 of their papers we have counts for
12 papers · 1 filter
Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
Zih-Yun Chiu, Florian Richter, Emily K. Funk +2
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guide…
Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy
Fei Liu, Zihan Li, Yunhai Han +3
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-bas…
A 2D Surgical Simulation Framework for Tool-Tissue Interaction
Yunhai Han, Fei Liu, Michael C. Yip
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate sim…
Constrained Motion Planning Networks X
Ahmed H. Qureshi, Jiangeng Dong, Asfiya Baig +1
Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between…
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection
Florian Richter, Shihao Shen, Fei Liu +4
Autonomous robotic surgery has seen significant progression over the last decade with the aims of reducing surgeon fatigue, improving procedural consistency, and perhaps one day ta…
Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer
Jingpei Lu, Florian Richter, Michael Yip
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely enginee…