Automating Vascular Shunt Insertion with the dVRK Surgical Robot
Karthik Dharmarajan,Will Panitch,Muyan Jiang,Kishore Srinivas,Baiyu Shi,Yahav Avigal,Huang Huang,Thomas Low,Danyal Fer,Ken Goldberg,Karthik Dharmarajan,Will Panitch,Muyan Jiang,Kishore Srinivas,Baiyu Shi,Yahav Avigal,Huang Huang,Thomas Low,Danyal Fer,Ken Goldberg
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate a problem of automated vascular shunt insertion and propose a pipeline to perform Automated Vascular Shunt Insertion (AVSI) using a da Vinci Research Kit. The pipeline uses a learned visual model to estimate the locus of...
