3 accepted papers
Cricothyrotomy is a life-saving emergency intervention that secures an alternate airway route after a neck injury or obstruction. The procedure starts with identifying the correct location (the cricothyroid membrane) for creating an incision to insert an endotracheal tube. This location is determine…
During open surgeries, surgeons use tactile palpation to form an understanding of the anatomy, including any underlying anatomical structures such as arteries or tumors. This letter explores methods for restoring this capability in the context of minimally invasive robot-assisted surgery. Previous w
In this work, we develop an approach for guiding robots to automatically localize and find the shapes of tumors and other stiff inclusions present in the anatomy. Our approach uses Gaussian processes to model the stiffness distribution and active learning to direct the palpation path of the robot. T…