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Radian Gondokaryono

9 accepted papers

2026

Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots

Chengnan Shentu, Nicholas Baldassini, Oluwagbotemi D. Iseoluwa, Radian Gondokaryono, Jessica Burgner-Kahrs
RSS 2026poster

Follow-the-leader (FTL) motion exploits the unique morphology of continuum robots (CRs) to navigate confined spaces by having the body retrace the path of the tip. While extensively studied, existing FTL methods typically assume a fixed base or a single degree-of-freedom insertion mechanism, limitin…

Cited by 0Source ↗Scholar ↗
2025

A Da Vinci Open Spina Bifida Suturing Simulator with Continuum Tools for Surgeon Skills Training

Nillan Nimal, Arion Law, Connor Lee, Radian Gondokaryono, James M. Drake, Tim Van Mieghem +2
IROS 2025

Open Spina Bifida (OSB) is a congenital neural tube defect that affects approximately 1 in 1000 births worldwide. Robotic in-utero OSB repair provides a minimally invasive alternative to open-surgery, which places significant strain on both baby and mother. Recent advancements in da Vinci miniature

Cited by 0Source ↗Scholar ↗
2025

Design and Implementation of a Snake Robot for Cranial Surgery

Jones Law, Emma Stickley, Radian Gondokaryono, Thomas Looi, Eric D. Diller, Dale Podolsky
ICRA 2025

Craniosynostosis involves premature fusion of the cranial sutures resulting in abnormal skull morphology and elevated intracranial pressure. Surgical intervention is necessary to correct the skull shape and to allow for unrestricted brain growth. This study presents a novel snake robot designed for

Cited by 0Source ↗Scholar ↗
2024

2mm Diameter Continuum Robot Tools for Suturing in Open Spina Bifida Repair

Arion Law, Nillan Nimal, Paul H. Kang, Radian Gondokaryono, James Drake, Tim Van Mieghem +1
IROS 2024poster

Open Spina Bifida (OSB) is a congenital neural tube defect where a major component of the procedure to repair the defect involves the closure of a lesion wound through suturing. For a minimally invasive approach, tools entering the uterus to access the fetus should be as thin as possible to minimize…

Cited by 1Source ↗Scholar ↗
2023

Learning Nonprehensile Dynamic Manipulation: Sim2real Vision-Based Policy With a Surgical Robot

Radian Gondokaryono, Mustafa Haiderbhai, Sai Aneesh Suryadevara, Lueder A. Kahrs
RA-L 2023

Surgical tasks such as tissue retraction, tissue exposure, and needle suturing remain challenging in autonomous surgical robotics. One challenge in these tasks is nonprehensile manipulation such as pushing tissue, pressing cloth, and needle threading. In this work, we isolate the problem of nonprehe

Cited by 6Source ↗Scholar ↗
2022

Robust Sim2Real Transfer with the da Vinci Research Kit: A Study On Camera, Lighting, and Physics Domain Randomization

Mustafa Haiderbhai, Radian Gondokaryono, Thomas Looi, James M. Drake, Lueder A. Kahrs
IROS 2022poster

Autonomous surgical robotics is a growing area of research, with advances being made in the areas of vision and control. Central to this research is the need for simulations to facilitate data collection and simulate learning environments for Reinforcement Learning (RL) agents. Recent simulators hav…

Cited by 7Source ↗Scholar ↗
2019

A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit

Yan Wang, Radian Gondokaryono, Adnan Munawar, Gregory S. Fischer
RA-L 2019

The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations and model-based control, the dynamic model of the dVRK is required. We present an open-source dynamic model identification package for the dVRK, capable of modeling the parallelograms, springs, counte

Cited by 55Source ↗Scholar ↗
2019

A Real-Time Dynamic Simulator and an Associated Front-End Representation Format for Simulating Complex Robots and Environments

Adnan Munawar, Yan Wang, Radian Gondokaryono, Gregory S. Fischer
IROS 2019poster

Robot Dynamic Simulators offer convenient implementation and testing of physical robots, thus accelerating research and development. While existing simulators support most real-world robots with serially linked kinematic and dynamic chains, they offer limited or conditional support for complex close…

Cited by 67Source ↗Scholar ↗
2017

Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials

Christopher J. Nycz, Radian Gondokaryono, Paulo Carvalho, Nirav Patel, Marek Wartenberg, Julie G Pilitsis +1
IROS 2017poster

The use of magnetic resonance imaging (MRI) for guiding robotic surgical devices has shown great potential for performing precisely targeted and controlled interventions. To fully realize these benefits, devices must work safely within the tight confines of the MRI bore without negatively impacting…

Cited by 58Source ↗Scholar ↗