A surgical robot policy needs to know where each instrument's working end sits relative to the camera and to the other instrument, yet a laparoscopic operation leaves only the endoscope video, and a draped instrument hides every optical path on itself. We estimate the tool tips from distances and an IMU alone. The dist …
Robotic ultrasound commonly targets standardized views, predefined scanning protocols, or expert-scan reproduction. We target a different role: while a clinician performs the primary procedure, a robotic assistant maintains a clinician-selected view so that changing tissue remains observable. We present contact-adaptiv …
High-performance surgical master consoles offer intuitive articulated manipulation but are expensive and difficult to reproduce, while accessible commercial haptic devices lack built-in interfaces for surgical wrist articulation and continuous grasp. We present a laparoscopic master in which general-purpose robot manip …
Most minimally invasive procedures are still performed with hand-held laparoscopic instruments, yet only the endoscopic video is retained; the instrument motion that expresses surgical skill, and that could support skill assessment and robot learning, is lost. Pose from video alone remains millimeters to centimeters of …
Most minimally invasive surgery is still performed with hand-held laparoscopic instruments, and the surgeon's instrument kinematics are lost when the operation ends; only the endoscope video is kept. This paper presents an end-to-end pipeline that captures this motion in the operating room and uses it to train a surgic …
Closed-loop evaluation of surgical robots requires tissue that deforms, can be grasped and lifted, and reproduces the anatomy in which the robot will operate. We present a simulator in which this tissue is reconstructed from a fixed-view RGB-D recording of the surgical field, composited to remove the instruments, close …