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

9 November 2020

Papers citing "Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning"

33 / 33 papers shown

Title
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation Shuyuan Yang Zonghe Chua 24 0 0 13 May 2025
FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning Diego DallÁlba Michał Nasket Sabina Kaminska Przemysław Korzeniowski OffRL AI4CE 62 1 0 24 Mar 2025
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments Zekai Liang Zih-Yun Chiu Florian Richter Michael C. Yip MedIm 40 2 0 07 Mar 2025
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning Yun-Jie Ho Zih-Yun Chiu Yuheng Zhi Michael C. Yip OffRL 30 0 0 24 Sep 2024
World Models for General Surgical Grasping Hongbin Lin Bin Li Chun Wai Wong Juan Rojas X. Chu K. W. S. Au 24 3 0 28 May 2024
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery Zohre Karimi Shing-Hei Ho Bao Thach Alan Kuntz Daniel S. Brown OffRL 32 7 0 10 Apr 2024
STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs Kush Hari Hansoul Kim Will Panitch Kishore Srinivas Vincent Schorp K. Dharmarajan Shreya Ganti Tara Sadjadpour Kenneth Y. Goldberg 33 6 0 08 Apr 2024
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation Nikhil Shinde Zih-Yun Chiu Florian Richter Jason Lim Yuheng Zhi Sylvia Herbert Michael C. Yip 33 2 0 29 Mar 2024
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives Christopher DÁmbrosia Florian Richter Zih-Yun Chiu Nikhil Shinde Fei Liu Henrik I. Christensen Michael C. Yip 27 2 0 08 Mar 2024
Twisting Lids Off with Two Hands Toru Lin Zhao-Heng Yin Haozhi Qi Pieter Abbeel Jitendra Malik 38 24 0 04 Mar 2024
Suturing Tasks Automation Based on Skills Learned From Demonstrations: A Simulation Study Haoying Zhou Yiwei Jiang Shang Gao Shiyue Wang Peter Kazanzides Gregory S. Fischer 23 1 0 01 Mar 2024
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots Samuel Schmidgall Axel Krieger Jason Eshraghian OOD 29 5 0 07 Oct 2023
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation Bao Thach Tanner Watts S. Ho Tucker Hermans Alan Kuntz 28 0 0 25 Sep 2023
Deep Reinforcement Learning in Surgical Robotics: Enhancing the Automation Level Cheng Qian Hongliang Ren 9 3 0 02 Sep 2023
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning Yijiong Lin Alex Church Max Yang Haoran Li John Lloyd Dandan Zhang Nathan Lepora 25 27 0 12 Jul 2023
Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation using Reinforcement Learning Yafei Ou Mahdi Tavakoli 11 16 0 25 Jun 2023
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers Jacob J. Johnson A. H. Qureshi Michael C. Yip 31 12 0 01 Jun 2023
Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy Fangxun Zhong Yun-hui Liu 11 8 0 13 May 2023
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects Bao Thach Brian Y. Cho Shing-Hei Ho Tucker Hermans Alan Kuntz 23 4 0 08 May 2023
End-to-End Learning of Deep Visuomotor Policy for Needle Picking Hongbin Lin Bin Li X. Chu Qi Dou Yunhui Liu K. W. S. Au OffRL 29 5 0 07 Mar 2023
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering Jingpei Lu Fei Liu C. Girerd Michael C. Yip 17 19 0 27 Feb 2023
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot Tao Huang Kai-xiang Chen Bin Li Yunhui Liu Qingxu Dou 32 23 0 20 Feb 2023
LapGym -- An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery Paul Maria Scheikl B. Gyenes Rayan Younis Christoph Haas Gerhard Neumann M. Wagner F. Mathis-Ullrich 28 25 0 19 Feb 2023
Mixline: A Hybrid Reinforcement Learning Framework for Long-horizon Bimanual Coffee Stirring Task Zheng Sun Zhiqi Wang Junjia Liu Miao Li Fei Chen 29 4 0 04 Nov 2022
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery Zih-Yun Chiu Florian Richter Michael C. Yip 12 6 0 21 Oct 2022
Automatic Parameter Optimization Using Genetic Algorithm in Deep Reinforcement Learning for Robotic Manipulation Tasks Adarsh Sehgal Nicholas Ward Hung M. La S. Louis 11 1 0 07 Apr 2022
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators Brijen Thananjeyan J. Kerr Huang Huang Joseph E. Gonzalez Ken Goldberg 26 9 0 09 Mar 2022
Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario Yonghao Long Jianfeng Cao Anton Deguet Russell H. Taylor Qi Dou 32 21 0 02 Jan 2022
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles Albert Wilcox J. Kerr Brijen Thananjeyan Jeffrey Ichnowski M. Hwang Samuel Paradis Danyal Fer Ken Goldberg 30 29 0 08 Dec 2021
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds Bao Thach Brian Y. Cho Alan Kuntz Tucker Hermans 3DPC 10 30 0 10 Oct 2021
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery Zih-Yun Chiu Albert Z Liao Florian Richter Bjorn A. Johnson Michael C. Yip 24 18 0 26 Sep 2021
Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach Florian Richter Jingpei Lu Ryan K. Orosco Michael C. Yip 27 29 0 11 Feb 2021
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation Samuel Paradis M. Hwang Brijen Thananjeyan Jeffrey Ichnowski Daniel Seita Danyal Fer Thomas Low Joseph E. Gonzalez Ken Goldberg 6 34 0 12 Nov 2020