Publications

SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators

Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control

Using a Fully Connected Neural Net to learn a complex tissue dynamics and feeding it into a model predictive control to perform …
Video arXiv IEEE BibTex

Autonomous suturing via surgical robot: An algorithm for optimal selection of needle diameter, shape, and path

Needle motion planning is formulated as a nonlinear optimization problem which outputs the optimal needle size, shape, and path to meet …
IEEE BibTex

Torque Contribution to Haptic Rendering of Virtual Textures

Novel 6D haptic feedback (both force and torque) strategies were developed to render virtual textures with high fidelity and human …
IEEE BibTex

Compact teleoperated laparoendoscopic single‐site robotic surgical system: Kinematics, control, and operation

Develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated …
IEEE BibTex

Large Deflection Shape Sensing of a Continuum Manipulator for MinimallyInvasive Surgery

Novel Fiber Bragg Grating (FBG)-based shape sensing unit was designed and verified for large deflection estimation of a snake-like …
IEEE BibTex