Deformable object manipulation in caregiving scenarios: A review
This paper reviews the robotic manipulation of deformable objects in caregiving scenarios.
Deformable objects like clothing, food, and medical supplies are ubiquitous in care tasks, yet …
Deformable objects like clothing, food, and medical supplies are ubiquitous in care tasks, yet …
LapGym-an open source framework for reinforcement learning in robot-assisted laparoscopic surgery
Recent advances in reinforcement learning (RL) have increased the promise of introducing
cognitive assistance and automation to robot-assisted laparoscopic surgery (RALS) …
cognitive assistance and automation to robot-assisted laparoscopic surgery (RALS) …
Human-in-the-loop embodied intelligence with interactive simulation environment for surgical robot learning
Surgical robot automation has attracted increasing research interest over the past decade,
expecting its potential to benefit surgeons, nurses and patients. Recently, the learning …
expecting its potential to benefit surgeons, nurses and patients. Recently, the learning …
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots
Recent advances in robot-assisted surgery have resulted in progressively more precise,
efficient, and minimally invasive procedures, sparking a new era of robotic surgical …
efficient, and minimally invasive procedures, sparking a new era of robotic surgical …
Autonomous blood suction for robot-assisted surgery: A sim-to-real reinforcement learning approach
Recent applications of deep reinforcement learning (DRL) in surgical autonomy have shown
promising results in automating various surgical sub-tasks. While most of these studies …
promising results in automating various surgical sub-tasks. While most of these studies …
Sculptbot: Pre-trained models for 3d deformable object manipulation
Deformable object manipulation presents a unique set of challenges in robotic manipulation
by exhibiting high degrees of freedom and severe self-occlusion. Choosing state …
by exhibiting high degrees of freedom and severe self-occlusion. Choosing state …
Movement primitive diffusion: Learning gentle robotic manipulation of deformable objects
Policy learning in robot-assisted surgery (RAS) lacks data efficient and versatile methods
that exhibit the desired motion quality for delicate surgical interventions. To this end, we …
that exhibit the desired motion quality for delicate surgical interventions. To this end, we …
Real-to-sim deformable object manipulation: Optimizing physics models with residual map**s for robotic surgery
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …
Surgical Task Automation Using Actor-Critic Frameworks and Self-Supervised Imitation Learning
Surgical robot task automation has recently attracted great attention due to its potential to
benefit both surgeons and patients. Reinforcement learning (RL) based approaches have …
benefit both surgeons and patients. Reinforcement learning (RL) based approaches have …
Saramis: Simulation assets for robotic assisted and minimally invasive surgery
Minimally-invasive surgery (MIS) and robot-assisted minimally invasive (RAMIS) surgery
offer well-documented benefits to patients such as reduced post-operative pain and shorter …
offer well-documented benefits to patients such as reduced post-operative pain and shorter …