Fast and reliable autonomous surgical debridement with cable-driven robots using a two-phase calibration procedure
Automating precision subtasks such as debridement (removing dead or diseased tissue
fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit …
fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit …
Efficiently calibrating cable-driven surgical robots with RGBD fiducial sensing and recurrent neural networks
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such
as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in …
as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in …
Intermittent visual servoing: Efficiently learning policies robust to instrument changes for high-precision surgical manipulation
Assisting surgeons with automation of surgical subtasks is challenging due to backlash,
hysteresis, and variable tensioning in cable-driven robots. These issues are exacerbated as …
hysteresis, and variable tensioning in cable-driven robots. These issues are exacerbated as …
Applying depth-sensing to automated surgical manipulation with a da vinci robot
Recent advances in depth-sensing have significantly increased accuracy, resolution, and
frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD …
frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD …
Modeling cable-driven robot with hysteresis and cable–pulley network friction
In this article, a method of modeling robotic systems with closed-circuit cable-pulley
transmissions using the independently developed hysteretic cable stretch model and cable …
transmissions using the independently developed hysteretic cable stretch model and cable …
[PDF][PDF] The Raven open surgical robotic platforms: A review and prospect
The Raven I and the Raven II surgical robots, as open research platforms, have been
serving the robotic surgery research community for ten years. The paper 1) briefly presents …
serving the robotic surgery research community for ten years. The paper 1) briefly presents …
Robotic tool tracking under partially visible kinematic chain: A unified approach
Anytime a robot manipulator is controlled via visual feedback, the transformation between
the robot and camera frame must be known. However, in the case where cameras can only …
the robot and camera frame must be known. However, in the case where cameras can only …
Gaussian process regression for sensorless grip force estimation of cable-driven elongated surgical instruments
Haptic feedback is a critical but a clinically missing component in robotic minimally invasive
surgeries. This paper proposes a Gaussian process regression (GPR) based scheme to …
surgeries. This paper proposes a Gaussian process regression (GPR) based scheme to …
Utilizing elasticity of cable-driven surgical robot to estimate cable tension and external force
Cable-driven robots enable compact design by allowing actuators to be mounted away from
joints. This kind of actuation is desired in surgical robots. The cables in these robots must …
joints. This kind of actuation is desired in surgical robots. The cables in these robots must …
Automating surgical peg transfer: Calibration with deep learning can exceed speed, accuracy, and consistency of humans
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic
Surgery (FLS). While human surgeons teleoperate robots such as the da Vinci to perform …
Surgery (FLS). While human surgeons teleoperate robots such as the da Vinci to perform …