Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans

no code implementations • 23 Dec 2020 • Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg

Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS).

Robotics

Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks

no code implementations • 19 Mar 2020 • Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg

Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching and hysteresis.

On the Effectiveness of Virtual Reality-based Training for Robotic Setup

no code implementations • 3 Mar 2020 • Arian Mehrfard, Javad Fotouhi, Tess Forster, Giacomo Taylor, Danyal Fer, Deborah Nagle, Nassir Navab, Bernhard Fuerst

We trained 30 participants on how to set up a robotic arm in an environment mimicking clinical setup.

Robotics

Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot

no code implementations • 15 Feb 2020 • Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg

We report experimental results for a handover-free version of the peg transfer task, performing 20 and 5 physical episodes with single- and bilateral-arm setups, respectively.

Robotics