Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Albert Wilcox,Justin Kerr,Brijen Thananjeyan,Jeffrey Ichnowski,Minho Hwang,Samuel Paradis,Danyal Fer,Ken Goldberg,Albert Wilcox,Justin Kerr,Brijen Thananjeyan,Jeffrey Ichnowski,Minho Hwang,Samuel Paradis,Danyal Fer,Ken Goldberg
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the automation of suturing. As visual tracking of a thin reflective needle is extremely challenging, prior work has modified the needle with nonreflective contrasti...
