Transfer of learned dynamics between different surgical robots and operative configurations
Sign Up to like & getrecommendations! Published in 2022 at "International Journal of Computer Assisted Radiology and Surgery"
DOI: 10.1007/s11548-022-02601-7
Abstract: Using the da Vinci Research Kit (dVRK), we propose and experimentally demonstrate transfer learning (Xfer) of dynamics between different configurations and robots distributed around the world. This can extend recent research using neural networks to… read more here.
Keywords: dynamics different; robots operative; surgical robots; transfer learned ... See more keywords
Monitoring the delicate operations of surgical robots via ultra-sensitive ionic electronic skin
Sign Up to like & getrecommendations! Published in 2022 at "National Science Review"
DOI: 10.1093/nsr/nwac227
Abstract: Abstract The arrival of surgical robots in high-end medical equipment is a landmark, and the realization of tactile sensation a major challenge in this important cutting-edge research field. Aiming to address this issue, we present… read more here.
Keywords: skin; electronic skin; sensitive ionic; ionic electronic ... See more keywords
Planning for Flexible Surgical Robots via Bézier Spline Translation
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DOI: 10.1109/lra.2019.2926221
Abstract: In a minimally invasive surgery, new flexible instruments enable safer and easier access to difficult-to-reach anatomical regions. However, their introduction into the clinical workflow requires robust replanning because navigation errors during surgery render initially planned… read more here.
Keywords: translation; surgical robots; flexible surgical; via zier ... See more keywords
Design and Kinematic Modeling of In-Situ Torsionally-Steerable Flexible Surgical Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3142920
Abstract: Flexible robots have been widely used in minimally invasive surgery because of their dexterity and accuracy. However, the torsion of end-effector under bending state usually produces unnecessary concomitant motion of the robot arm. This paper… read more here.
Keywords: motion; design; situ torsionally; surgical robots ... See more keywords
A CT Image-Based Virtual Sensing Method to Estimate Bone Drilling Force for Surgical Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Biomedical Engineering"
DOI: 10.1109/tbme.2021.3108400
Abstract: Objective: Current surgical robots face challenges to understand preoperative images like human surgeons, which hindering robots from making full use of preoperative information to operate stably and efficiently. We offer a method to estimate drilling… read more here.
Keywords: surgical robots; force; drilling force; bone drilling ... See more keywords