5 accepted papers
Safety is of utmost importance in surgical robots, as they operate in a complex and dynamic environment that directly impacts the patient’s health based on the surgical procedure’s success. One of the main difficulties in the control of surgical manipulators is in efficiently encoding dynamic nonlin…
This paper presents a novel autonomous endoscope control method for the dVRK's Endoscopic Camera Manipulator (ECM), which allows the camera to track the surgical instruments on the Patient Side Manipulator (PSM). An Image-based Visual Servoing (IBVS) is enforced by the addition of a visibility const…
In robot-aided surgery, during the execution of typical bimanual procedures such as dissection, surgical tools can collide and create serious damage to the robot or tissues. The da Vinci robot is one of the most advanced and certainly the most widespread robotic system dedicated to minimally invasiv
During suturing tasks performed with minimally invasive surgical robots, configuration singularities and joint limits often force surgeons to interrupt the task and re-grasp the needle using dual-arm movements. This yields an increased operator's cognitive load, time-to-completion and performance de…
Polyp dissection requires very accurate detection of the region of interest and high-precision cutting with adequate safety margins. Robot-assisted polyp dissection is a solution to accomplish high-quality intervention. This paper proposes a method to constrain the robot to follow an accurate dissec…