Surgical Robots – UCSD ARCLAB

MD Tadlock, EJ Olson, D Gasques, R Champagne, MJ Krzyzaniak, SA Belverud, V Ravindra, J Kerns, PM Choi, J Deveraux, J Johnson, T Sharkey, M Yip, N Weibel, K Davis

BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields

Computer Vision, Surgical Robots Catherine 0

S Saha, S Liu, S Lin, J Lu, M Yip

Compensatory motion scaling for time-delayed robotic surgery

Deformable Modeling and Manipulation, Surgical Robots Catherine 0

R.K. Orosco, B. Lurie, T. Matsuzaki, E.K. Funk, V. Divi, F.C. Holsinger, S. Hong, F. Richter, N. Das, M. C. Yip

Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection

Computer Vision, Deformable Modeling and Manipulation, Image-guided Surgery, Surgical Robots Catherine 0

F. Richter, S. Shen, F. Liu, J. Huang, E.K. Funk, R.K. Orosco, M.C. Yip

SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction

Computer Vision, Deformable Modeling and Manipulation, Image-guided Surgery, Surgical Robots Catherine 0

J. Lu, A. Jayakumari, F. Richter, Y. Li, M.C. Yip

Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations

Computer Vision, Deformable Modeling and Manipulation, Image-guided Surgery, Surgical Robots Catherine 0

J. Huang*, F. Liu*, F. Richter, M.C. Yip

Real-to-Sim Registration of Deformable Soft-Tissue with Position-Based Dynamics for Surgical Robot Autonomy

Deformable Modeling and Manipulation, Surgical Robots Catherine 0

F. Liu, Z. Li, Y. Han, J. Lu, F. Richter, M.C. Yip

Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning

Motion Planning, Surgical Robots Catherine 0

2021

IEEE International Conference on Robotics and Automation (ICRA). Xi'an, China, pp. 7737-7743 (2021).

ARTEMIS: A Collaborative Mixed-Reality System for Immersive Surgical Telementoring

Augmented and Virtual Reality, Image-guided Surgery, Surgical Robots Catherine 0

D Gasques, JG Johnson, T Sharkey, Y Feng, R Wang, ZR Xu, E Zavala, Y. Zhang, W. Xie, X. Zhang, K. Davis, M. Yip, and N. Weibel

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

Haptics and Teleoperation, Motion Planning, Surgical Robots Catherine 0

M Xu, J Di, N Das, MC Yip

CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores

Haptics and Teleoperation, Image-guided Surgery, Surgical Robots Catherine 0

DA Schreiber, Z Yu, H Jiang, T Henderson, G Li, J Yu, R Zhu, AM Norbash, MC Yip

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

Haptics and Teleoperation, Surgical Robots Catherine 0

F Richter, EK Funk, WS Park, RK Orosco, MC Yip

Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer

Computer Vision, Image-guided Surgery, Surgical Robots Catherine 0

J Lu, F Richter, MC Yip

Robotic autonomy in endocrine surgery

Surgical Robots Catherine 0

EK Funk, F Richter, WS Park, MC Yip, RK Orosco

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics

Computer Vision, Deformable Modeling and Manipulation, Image-guided Surgery, Surgical Robots Catherine 0

Y Li, F Richter, J Lu, EK Funk, RK Orosco, J Zhu, MC Yip

Vibration-based Multi-Axis Force Sensing: Design, Characterization, and Modeling

Haptics and Teleoperation, Robot Design, Surgical Robots Catherine 0

W. Kuang, M.C. Yip, J. Zhang

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures | Best Paper finalist

Haptics and Teleoperation, Image-guided Surgery, Surgical Robots Catherine 0

DA Schreiber, H Jiang, G Li, J Yu, Z Yu, R Zhu, AM Norbash, MC Yip

Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation.

Haptics and Teleoperation, Surgical Robots Catherine 0

F. Richter, R.K. Orosco, M.C. Yip

Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery

Robot Design, Surgical Robots Catherine 0

F. Richter, Y.F. Zhang, Y.H. Zhi, R.K. Orosco, M.C. Yip

Open-Sourced Reinforcement Learning Environments for Surgical Robotics

Foundations of Machine Learning, Surgical Robots Catherine 0

F. Richter, R. K. Orosco, M.C. Yip

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

Computer Vision, Image-guided Surgery, Surgical Robots Catherine 0

D. A. Schreiber, D. B. Shak, A. M. Norbash, M. C. Yip

Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

Biomimetic and Soft Robots, Image-guided Surgery, Surgical Robots Catherine 0

M Verghese, F Richter, A Gunn, P Weissbrod, M Yip

New adaptive scaling strategies lowers the barrier to telerobotic surgery in communication-delayed, far-forward environments

Haptics and Teleoperation, Surgical Robots Catherine 0

F. Richter, Z. Ye, W. Xu, A. Bamford, E. Wirtz, R. Orosco, S. Hong, M. Yip

Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps

Augmented and Virtual Reality, Computer Vision, Deformable Modeling and Manipulation, Image-guided Surgery, Surgical Robots Catherine 0

N. Haouchine, W. Kuang, S. Cotin, M.C. Yip

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Biomimetic and Soft Robots, Haptics and Teleoperation, Surgical Robots Catherine 0

M. Yip, J. Sganga, D. Camarillo

MRI guided hyper-redundant biopsy robot

Image-guided Surgery, Robot Design, Surgical Robots Catherine 0

D. Schreiber, A. Norbash, M. Yip

Robot Control of Endoscopic Instruments using Flexible Polymer Sheath

Biomimetic and Soft Robots, Robot Design, Surgical Robots Catherine 0

Aaron Gunn, Mrinal Verghese, Wesly Wong, Phil Weissbrod, M. Yip

Telesurgical Robotic Operative Network: Addressing signal latency in telesurgery with machine learning development using microsurgical platform

Haptics and Teleoperation, Surgical Robots Catherine 0

S. Hong, R. Orosco, M. Yip, S. Bevans, E. Wirtz, K. Groom, M. Tabata, J. Zhou, V. Divi, J. Robitschek, J. Sterbis, F. Holsinger.

Robot Autonomy for Surgery

Augmented and Virtual Reality, Computer Vision, Deformable Modeling and Manipulation, Haptics and Teleoperation, Image-guided Surgery, Surgical Robots Catherine 0

M. Yip, N. Das

Model-less Hybrid Position/Force Control: A Minimalist Approach to Continuum Manipulator Control in Unknown Environments | Won the 2016 Best Paper Award for all IEEE Robotics and Automation Letters

Biomimetic and Soft Robots, Haptics and Teleoperation, Surgical Robots Catherine 0

M. Yip and D. Camarillo

SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation

Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments

Accepted in Robotics: Science and Systems (RSS), 2024.

Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints

Accepted in IEEE International Conference on Robotics and Automation (ICRA), 2024.

Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection

IEEE International Conference on Robotics and Automation (ICRA), pp. 4747-4753 (2023).

Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery

IEEE International Conference on Robotics and Automation (ICRA), pp. 4761-4767 (2023).

Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering

IEEE International Conference on Robotics and Automation (ICRA), pp. 560-567 (2023).