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Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles


Dec 08, 2021
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg

* 8 pages, 7 figures. First two authors contributed equally 

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Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks


Dec 24, 2020
Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg


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Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation


Nov 12, 2020
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg

* 6 pages, 5 figures, 4 tables, submitted to ICRA 2021, supplementary material at https://tinyurl.com/ivs-icra 

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Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation


Mar 19, 2020
Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg

* 9 pages, 11 figures, 2 tables 

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On the Effectiveness of Virtual Reality-based Training for Robotic Setup


Mar 03, 2020
Arian Mehrfard, Javad Fotouhi, Tess Forster, Giacomo Taylor, Danyal Fer, Deborah Nagle, Nassir Navab, Bernhard Fuerst

* 8 pages, submitted to IROS 2020, Arian Mehrfard and Javad Fotouhi considered as joint first authors 

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Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot


Feb 15, 2020
Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg

* Camera-ready version for the International Symposium on Medical Robotics (ISMR) 2020 

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