Contents
2024
Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit Journal Article
In: IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 971-978, 2024.
2023
GRACE: Online Gesture Recognition for Autonomous Camera-Motion Enhancement in Robot-Assisted Surgery Journal Article
In: IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8263-8270, 2023.
Wearable Mechatronic Ultrasound-Integrated AR Navigation System for Lumbar Puncture Guidance Journal Article
In: IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 4, pp. 966-977, 2023.
Narrow beam breast CT: proof-of-concept Journal Article
In: Medical Physics, vol. 50, no. 6, pp. 3418-3434, 2023.
A Virtual Reality Planning Environment for High-Risk, High-Latency Teleoperation Proceedings Article
In: IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 11619–11625, London, UK, 2023.
Feature-aggregated spatiotemporal spine surface estimation for wearable patch ultrasound volumetric imaging Proceedings Article
In: Medical Imaging 2023: Ultrasonic Imaging and Tomography, pp. 111-117, SPIE 2023.
Mixed Reality Based Teleoperation of Surgical Robotics Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2023.
An abdominal phantom with instrument tracking for laparoscopic training Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2023.
Velocity Control for the da Vinci Research Kit Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2023.
dVPose: Automated Data Collection and Dataset for 6D Pose Estimation of Robotic Surgical Instruments Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2023.
Calibration and Evaluation of a Motion Measurement System for PET Imaging Studies Journal Article
In: Journal of Medical Robotics Research, vol. 8, no. 1&2, pp. 1-10, 2023.
2022
A virtual suturing task: proof of concept for awareness in autonomous camera motion Proceedings Article
In: IEEE Intl. Conf. on Robotic Computing (IRC), pp. 376-382, Naples, Italy, 2022.
CaRTS: Causality-driven robot tool segmentation from vision and kinematics data Proceedings Article
In: Medical Image Computing and Computer-Assisted Intervention (MICCAI), pp. 387-398, Singapore, 2022.
Shared Control of Upper Limb Prosthesis for Improved Robustness and Usability Proceedings Article
In: IEEE Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob), pp. 1–7, Seoul, Korea, 2022.
Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions Journal Article
In: Sensors, vol. 22, 2022.
AR-Loupe: Magnified Augmented Reality by Combining an Optical See-Through Head-Mounted Display and a Loupe Journal Article
In: IEEE Trans. on Visualization and Computer Graphics, vol. 28, no. 7, pp. 2550-2562, 2022.
Learning Based Estimation of 7 DOF Instrument and Grasping Forces on the da Vinci Research Kit Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2022.
Evaluation of a Motion Measurement System for PET Imaging Studies Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2022.
Transfer of learned dynamics between different surgical robots and operative configurations Journal Article
In: Intl. Journal of Computer Assisted Radiology and Surgery (IJCARS), vol. 17, pp. 903-910, 2022.
An Open Simulation Environment for Learning and Practice of Robot-Assisted Surgical Suturing Journal Article
In: IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3843-3850, 2022.
AutoInFocus, a new paradigm for ultrasound-guided spine intervention: a multi-platform validation study Journal Article
In: Intl. Journal of Computer Assisted Radiology and Surgery (IJCARS), vol. 17, pp. 911-920, 2022.
2021
Teleoperation and Visualization Interfaces for Remote Intervention in Space Journal Article
In: Frontiers in Robotics and AI, vol. 8, 2021.
Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit Journal Article
In: IEEE Robotics and Automation Magazine, vol. 28, no. 4, pp. 56-78, 2021.
Analysis of human head motion and robotic compensation for PET imaging studies Proceedings Article
In: IEEE Engin. in Medicine and Biology Conf. (EMBC), pp. 4836-4839, 2021.
Robot Force Estimation with Learned Intraoperative Correction Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2021.
Learning Soft-Tissue Simulation from Models and Observation Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2021.
A Bi-directional User Interface for a Prosthetic Hand Using a Head-Mounted Display Proceedings Article
In: IEEE Intl. Symp. on Medical Robotics (ISMR), 2021.
Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion Proceedings Article
In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 4215-4220, 2021.
Telerobotic Operation of Intensive Care Unit Ventilators Journal Article
In: Frontiers in Robotics and AI, vol. 8, pp. 1-15, 2021, ISSN: 2296-9144.
Model-based Design and Digital Implementation to Improve Control of the da Vinci Research Kit Telerobotic Surgical System Proceedings Article
In: IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 12435-12441, 2021.
Augmented Reality Assisted Orbital Floor Reconstruction Proceedings Article
In: IEEE Intl. Conf. on Intelligent Reality (ICIR), pp. 25-30, 2021.
Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2658-2665, 2021.
A Framework for Customizable Multi-User Teleoperated Control Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3256-3263, 2021.
Cross-modal self-supervised representation learning for gesture and skill recognition in robotic surgery Journal Article
In: Intl. Journal of Computer Assisted Radiology and Surgery (IJCARS), vol. 16, pp. 779-787, 2021.
Evaluation of Hybrid Control and Palpation Assistance for Situational Awareness in Telemanipulated Task Execution Journal Article
In: IEEE Trans. on Medical Robotics and Bionics, vol. 3, no. 1, pp. 31-43, 2021.
2020
Collaborative Robotics Toolkit (CRTK): Open Software Framework for Surgical Robotics Research Proceedings Article
In: IEEE Intl. Conf. on Robotic Computing, pp. 48-55, 2020.
A Deep Learning Approach to Intrinsic Force Sensing on the da Vinci Surgical Robot Proceedings Article
In: IEEE Intl. Conf. on Robotic Computing, pp. 25-32, 2020.
FlexiVision: Teleporting the Surgeon's Eyes via Robotic Flexible Endoscope and Head-Mounted Display Proceedings Article
In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 3281-3287, 2020.
Interactive Planning and Supervised Execution for High-Risk, High-Latency Teleoperation Proceedings Article
In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 1857-1864, 2020.
SCAN: System for Camera Autonomous Navigation in Robotic-Assisted Surgery Proceedings Article
In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 2996-3002, 2020.
Visual Monitoring and Servoing of a Cutting Blade during Telerobotic Satellite Servicing Proceedings Article
In: IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 1903-1908, 2020.
An Interactive Mixed Reality Platform for Bedside Surgical Procedures Proceedings Article
In: Medical Image Computing and Computer-Assisted Intervention (MICCAI), pp. 65-75, 2020.
Neural Network based Inverse Dynamics Identification and External Force Estimation on the da Vinci Research Kit Proceedings Article
In: IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 1387-1393, 2020.
Leveraging vision and kinematics data to improve realism of biomechanic soft tissue simulation for robotic surgery Journal Article
In: Intl. Journal of Computer Assisted Radiology and Surgery (IJCARS), vol. 15, pp. 811-818, 2020.
Interactive Navigation System in Mixed-Reality for Neurosurgery Proceedings Article
In: IEEE Virtual Reality (VR), pp. 783-784, 2020.
A Review of Augmented Reality in Robotic-Assisted Surgery Journal Article
In: IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 1, pp. 1-16, 2020.
A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments Journal Article
In: IEEE/ASME Trans. on Mechatronics, vol. 26, no. 1, pp. 369-380, 2020.
2019
ARAMIS: Augmented Reality Assistance for Minimally Invasive Surgery Using a Head-Mounted Display Proceedings Article
In: Medical Image Computing and Computer-Assisted Intervention (MICCAI), pp. 74-82, 2019.
A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces Journal Article
In: IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3892-3899, 2019.
dVRK-XR: Mixed Reality Extension for da Vinci Research Kit Proceedings Article
In: Hamlyn Symposium on Medical Robotics, pp. 93-94, 2019.