5 accepted papers
"Accurate estimation of both the external orientation and internal bending angle is crucial for understanding a flexible robot state within its environment. However, existing sensor-based methods face limitations in cost, environmental constraints, and integration issues. Conventional image-based me…
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible endoscopy, the challenge remains for efficient and safe navi…
Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are not intelligent enough, while the latest supervised imitation…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-base…
Continuum manipulators with structural compliance can be utilized to steer a laser beam in constrained environments. However, the flexibility and nonlinear characteristics of continuum manipulators bring difficulty in precision manipulation. This study proposes a model-free control approach with vis