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View article: Hierarchical Surgical Robot Transformer (SRT-H): Imitation Learning for Autonomous Surgery
Hierarchical Surgical Robot Transformer (SRT-H): Imitation Learning for Autonomous Surgery Open
This code includes experimental data and plotting scripts for reproducing figures from the SRT-H paper. Specifically, for figures 4, 6, and S7.
View article: Autonomous Vision-Guided Resection of Central Airway Obstruction
Autonomous Vision-Guided Resection of Central Airway Obstruction Open
Existing tracheal tumor resection methods often lack the precision required for effective airway clearance, and robotic advancements offer new potential for autonomous resection. We present a vision-guided, autonomous approach for palliati…
View article: Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification Open
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA, USA). The dVRK has…
View article: SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions Open
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for medic…
View article: Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks Open
We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder straight-forward implementation of imitation learning. Notably…
View article: An Effectiveness Study Across Baseline and Learning-based Force Estimation Methods on the da Vinci Research Kit Si System
An Effectiveness Study Across Baseline and Learning-based Force Estimation Methods on the da Vinci Research Kit Si System Open
Robot-assisted minimally invasive surgery, such as through the da Vinci systems, improves precision and patient outcomes. However, da Vinci systems prior to da Vinci 5, lacked direct force-sensing capabilities, forcing surgeons to operate …
View article: Integrating 3D Slicer with a Dynamic Simulator for Situational Aware Robotic Interventions
Integrating 3D Slicer with a Dynamic Simulator for Situational Aware Robotic Interventions Open
Image-guided robotic interventions represent a transformative frontier in surgery, blending advanced imaging and robotics for improved precision and outcomes. This paper addresses the critical need for integrating open-source platforms to …
View article: An application of SlicerROS2: Haptic latency evaluation for virtual fixture guidance in breast conserving surgery
An application of SlicerROS2: Haptic latency evaluation for virtual fixture guidance in breast conserving surgery Open
Breast conserving surgery (BCS) is a surgical intervention for breast cancer where the surgeon resects the primary tumor and preserves the surrounding healthy tissue. These procedures have a high failure rate because it is often difficult …
View article: Real-Time Intraoperative Surgical Guidance System in the da Vinci Surgical Robot Based on Transrectal Ultrasound/Photoacoustic Imaging With Photoacoustic Markers: An <i>Ex Vivo</i> Demonstration
Real-Time Intraoperative Surgical Guidance System in the da Vinci Surgical Robot Based on Transrectal Ultrasound/Photoacoustic Imaging With Photoacoustic Markers: An <i>Ex Vivo</i> Demonstration Open
This paper introduces the first integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic mark…
View article: Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions
Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions Open
Developing image-guided robotic systems requires access to flexible, open-source software. For image guidance, the open-source medical imaging platform 3D Slicer is one of the most adopted tools that can be used for research and prototypin…
View article: Real-time intraoperative surgical guidance system in the da Vinci surgical robot based on transrectal ultrasound/photoacoustic imaging with photoacoustic markers: an ex vivo demonstration
Real-time intraoperative surgical guidance system in the da Vinci surgical robot based on transrectal ultrasound/photoacoustic imaging with photoacoustic markers: an ex vivo demonstration Open
This paper introduces an integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers tha…
View article: Real-time intraoperative surgical guidance system in the da Vinci surgical robot based on transrectal ultrasound/photoacoustic imaging with photoacoustic markers: an ex vivo demonstration
Real-time intraoperative surgical guidance system in the da Vinci surgical robot based on transrectal ultrasound/photoacoustic imaging with photoacoustic markers: an ex vivo demonstration Open
This paper introduces an integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers tha…
View article: Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario
Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario Open
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of attenti…
View article: Teleoperation and Visualization Interfaces for Remote Intervention in Space
Teleoperation and Visualization Interfaces for Remote Intervention in Space Open
Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or mo…
View article: Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit
Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit Open
Robotic-assisted surgery is now well-established in clinical practice and has\nbecome the gold standard clinical treatment option for several clinical\nindications. The field of robotic-assisted surgery is expected to grow\nsubstantially i…
View article: Telerobotic Operation of Intensive Care Unit Ventilators
Telerobotic Operation of Intensive Care Unit Ventilators Open
Since the first reports of a novel coronavirus (SARS-CoV-2) in December 2019, over 33 million people have been infected worldwide and approximately 1 million people worldwide have died from the disease caused by this virus, COVID-19. In th…
View article: Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit
Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit Open
Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in t…
View article: Learning Deep Nets for Gravitational Dynamics With Unknown Disturbance Through Physical Knowledge Distillation: Initial Feasibility Study
Learning Deep Nets for Gravitational Dynamics With Unknown Disturbance Through Physical Knowledge Distillation: Initial Feasibility Study Open
Learning high-performance deep neural networks for dynamic modeling of high\nDegree-Of-Freedom (DOF) robots remains challenging due to the sampling\ncomplexity. Typical unknown system disturbance caused by unmodeled dynamics\n(such as inte…
View article: Hybrid Robot-Assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries
Hybrid Robot-Assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries Open
High-resolution real-time intraocular imaging of retina at the cellular level is very challenging due to the vulnerable and confined space within the eyeball as well as the limited availability of appropriate modalities. A probe-based conf…
View article: A Compliance Model to Improve the Accuracy of the da Vinci Research Kit (dVRK)
A Compliance Model to Improve the Accuracy of the da Vinci Research Kit (dVRK) Open
The da Vinci surgical robot is widely used for minimally-invasive surgery.It inserts multiple articulated instruments through small incisions into the patient.The robot system contains encoders to measure joint displacements which, when co…
View article: Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks
Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks Open
Background It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclu…
View article: ARssist: augmented reality on a head‐mounted display for the first assistant in robotic surgery
ARssist: augmented reality on a head‐mounted display for the first assistant in robotic surgery Open
In robot‐assisted laparoscopic surgery, the first assistant (FA) is responsible for tasks such as robot docking, passing necessary materials, manipulating hand‐held instruments, and helping with trocar planning and placement. The performan…