相关论文: Deliberation in autonomous robotic surgery: a fram…
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…
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…
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…
Surgery is a high-stakes domain where surgeons must navigate critical anatomical structures and actively avoid potential complications while achieving the main task at hand. Such surgical activity has been shown to affect long-term patient…
Autonomous mobile robots (AMR) operating in the real world often need to make critical decisions that directly impact their own safety and the safety of their surroundings. Learning-based approaches for decision making have gained…
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…
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…
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…
Self-reflecting about our performance (e.g., how confident we are) before doing a task is essential for decision making, such as selecting the most suitable tool or choosing the best route to drive. While this form of awareness -- thinking…
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that…
The design and development of robots involve the essential step of selecting and testing robotic interfaces. This interface selection requires careful consideration as the robot's physical embodiment influences and adds to the traditional…
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…
Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…
In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…
Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the…
Dense prediction tasks in surgical computer vision, such as segmentation and surgical zone prediction, can provide valuable guidance for laparoscopic and robotic surgery. However, these models often suffer from distribution shifts, as…