3 accepted papers
Automation of suturing subtasks, such as needle handover, has the potential to reduce surgeons' fatigue and improve surgical efficiency. Needle handover is particularly challenging due to the combinatorial nature of grasping and handover strategies, uncertainties in needle pose estimation, and inacc…
Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such as friction, elongation, and coupling. These effects are dif
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces. Conventional base placement relies on the experience of trai…