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
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.
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
1 code implementation • 3 Mar 2019 • Naveen Madapana, Md Masudur Rahman, Natalia Sanchez-Tamayo, Mythra V. Balakuntala, Glebys Gonzalez, Jyothsna Padmakumar Bindu, L. N. Vishnunandan Venkatesh, Xingguang Zhang, Juan Barragan Noguera, Thomas Low, Richard Voyles, Yexiang Xue, Juan Wachs
It comprises a set of surgical robotic skills collected during a surgical training task using three robotic platforms: the Taurus II robot, Taurus II simulated robot, and the YuMi robot.
Robotics