A Semi-Autonomous Data-Driven Shared Control Framework for Robotic Manipulation and Cutting of an Unknown Deformable Tissue

Nicholas A. Strohmeyer,Ji Hwan Park,Braden P. Murphy,Farshid Alambeigi,Nicholas A. Strohmeyer,Ji Hwan Park,Braden P. Murphy,Farshid Alambeigi

In this work, we propose a semi-autonomous scheme to synergistically share the complicated task of manipulation and cutting of an unknown deformable tissue (U-DT) between a remote surgeon and a surgical robot. Particularly, utilizing the da Vinci Research Kit (dVRK) platform, we have designed and successfully demonstrated a fully functional shared control scheme for an autonomous tensioning and te...