Abhinaba Bhattacharjee

SeeBelow: Sub-dermal 3D Reconstruction of Tumors with Surgical Robotic Palpation and Tactile Exploration

Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation with tactile feedback is necessary for localization, geometry/depth estimation, and dexterous exploration of abnormal sti…