Nicholas A. Strohmeyer

A Semi-Autonomous Data-Driven Shared Control Framework for Robotic Manipulation and Cutting of an Unknown Deformable Tissue

In this work, we propose a semi-autonomous scheme to synergistically share the complicated task of manipulation and cutting of an unknown deformable tissue (U-DT) between a remote surgeon and a surgical robot. Particularly, utilizing the da Vinci Research Kit (dVRK) platform, we have designed and su…