Daniel Lerner — accepted AI-conference papers

2021

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue

Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar Mair, Daniel Lerner +4

IROS 2021poster

Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potentia…

Cited by 8 Source ↗Scholar ↗

2020

Towards Autonomous Control of Magnetic Suture Needles

Matthew Fan, Xiaolong Liu, Kamakshi Jain, Daniel Lerner, Lamar O. Mair, Irving N. Weinberg +2

IROS 2020poster

This paper proposes a magnetic needle steering controller to manipulate mesoscale magnetic suture needles for executing planned suturing motion. This is an initial step towards our research objective: enabling autonomous control of magnetic suture needles for suturing tasks in minimally invasive sur…

Cited by 12 Source ↗Scholar ↗