Ugur Tümerdem — accepted AI-conference papers

2024

Admittance Switching for Stability and Transparency in Human-Robot Collaborative Microsurgery

Brevin Banks, Mohammad Salehizadeh, Adnan Munawar, Russell H. Taylor, Ugur Tümerdem

RA-L 2024

The Galen Surgical Robot is an admittance controlled collaborative robot that can enhance the performance of surgeons in microsurgery by sharing the load of instruments, preventing hand tremor and improving precision. In mastoidectomy, contacting the temporal bone of the skull and drilling with the

Cited by 5 Source ↗Scholar ↗

2024

Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit

Nural Yilmaz, Brendan Burkhart, Anton Deguet, Peter Kazanzides, Ugur Tümerdem

RA-L 2024

The da Vinci surgical robot introduced remote control of instruments, providing surgeons with increased dexterity and precision. A major drawback, however, is the loss of sense of touch due to a lack of kinesthetic coupling between the surgical field and the surgeon. This paper presents a framework

Cited by 13 Source ↗Scholar ↗