Related papers: Learning-Based Adaptive Control for Surgical Robot…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…
Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of…
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…
Imaging modalities provide clinicians with real-time visualization of anatomical regions of interest (ROI) for the purpose of minimally invasive surgery. During the procedure, low-resolution image data are acquired and registered with…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Autonomy in robot-assisted surgery is essential to reduce surgeons' cognitive load and eventually improve the overall surgical outcome. A key requirement for autonomy in a safety-critical scenario as surgery lies in the generation of…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability to sense, interpret, and respond to changes during…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…
Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…