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Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…
We present the design of a mixed reality (MR) telehealth training system that aims to close the gap between in-person and distance training and re-training for medical procedures. Our system uses real-time volumetric capture as a means for…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
In this paper, we develop a virtual reality (VR) simulator for the Robossis robot-assisted femur fracture surgery. Due to the steep learning curve for such procedures, a VR simulator is essential for training surgeon(s) and staff. The…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Extended reality (XR), encompassing Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR), is emerging as a transformative platform for medical education. Traditional methods such as textbooks, physical models, and cadaveric…
Virtual Reality technology, when integrated with Surgical Digital Twins (SDTs), offers significant potential in medical training and surgical planning. We present SurgTwinVR, a VR application that immerses users within an SDT and enables…
The current generation of surgeons requires extensive training in teleoperation to develop specific dexterous skills, which are independent of medical knowledge. Training curricula progress from manipulation tasks to simulated surgical…
Free-hand dental procedures are typically repetitive, time-consuming and require high precision and manual dexterity. Robots can play a key role in improving procedural accuracy and safety, enhancing patient comfort, and reducing operator…
As mobile robots increasingly operate alongside humans in shared workspaces, ensuring safe, efficient, and interpretable Human-Robot Interaction (HRI) has become a pressing challenge. While substantial progress has been devoted to human…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…
We present a mixed reality-based underwater robot arm teleoperation system with a reaction torque indicator via bilateral control (MR-UBi). The reaction torque indicator (RTI) overlays a color and length-coded torque bar in the MR-HMD,…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…