110 citations · 361 across the 53 of their papers we have counts for
7 papers · 1 filter
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Florian Richter, Michael C. Yip
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for au…
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking
Shan Lin, Albert J. Miao, Jingpei Lu +4
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in…
Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning
Zih-Yun Chiu, Yi-Lin Tuan, William Yang Wang +1
Reinforcement learning (RL) agents have long sought to approach the efficiency of human learning. Humans are great observers who can learn by aggregating external knowledge from va…
Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection
Neelay Joglekar, Fei Liu, Ryan Orosco +1
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can signif…
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics
Fei Liu, Entong Su, Jingpei Lu +2
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is diff…
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Mrinal Verghese, Nikhil Das, Yuheng Zhi +1
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial t…