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A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
Pages
Posts
Example Hobby Post: My Weekend Ramen Adventure
Published:
This is an example hobby blog post. Use this as a template for your cooking adventures, travel stories, photography, crafts, or other personal interests.
Example Technical Post: ROS2 Development Tips
Published:
This is an example technical blog post. Use this as a template for your own technical posts about robotics, programming, research findings, tutorials, etc.
build
Open-source da Vinci Instrument CAD
Published:
Open-source photorealistic CAD models for da Vinci instruments. More instruments will be added in the future. Stay tuned!
Data Annotation Application
Published:
Novel data annotation application with GUI using PyQt for manual label annotations
Custom Capacitive Contact Sensor
Published:
Design and implementation of custom capacitive sensor for tool-tissue contact detection. More details will be shared later, stay tuned!
Modern Chip-on-Tip Endoscope Integration with the da Vinci Research Kit
Published:
Integrate a modern chip-on-tip endoscope with the dVRK-Si for surgical robotics research.
Endoscope Video Pipeline Development
Published:
Video pipeline for endoscope image stacks using Video for Linux v2 drivers
Surgical Instrument Maintenance Solutions
Published:
Novel approach for surgical instrument lubrication and internal cable tension recovery
Open-source da Vinci High-Resolution Stereo-Viewer Console Solutions
Published:
Enable open-source solutions for the da Vinci High-Resolution Stereo-Viewer consoles, including height adjustment linear actuator reactivation and monitor replacement.
Joint Encoder and Brake Replacement Solutions
Published:
Novel replacement solutions for defective joint encoders and brakes of dVRK arms
da Vinci Surgical System Reactivation
Published:
Reactivation of full da Vinci Surgical Systems using dVRK controllers and software
projects
3D Reconstruction using Gaussian Splatting and Simulation Integration
Published:
A toy project using 3D Gaussian splatting (Free-SurGS) for 3D reconstruction from images; integrate the reconstructed mesh into AMBF simulator as a static object and enable teleoperation.
Neural Radiance Fields (NeRF) Implementation
Published:
Neural Radiance Fields for 3D scene reconstruction
FaceSwap Implementation using PRNet
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Implementation of FaceSwap algorithms and Neural Radiance Fields for 3D scene reconstruction
Visual Inertial Odometry with Multi-Scale Constraint Kalman Filter
Published:
Implementation of VIO using multi-scale constraint Kalman filtering techniques
Adaptive Robustness Control Design for UAV with ROS Gazebo
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Design and implementation of adaptive robust control for UAV systems in simulation
Laboratory Animal Surgery
Published:
Training course in laboratory animal surgical procedures
Autonomous Racing Car Dynamic and Control Design
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Design and implementation of dynamics and control systems for autonomous racing vehicles
Object Tracking Mechatronics System Design and Manufacturing
Published:
Design and manufacture of a mechatronic system for object tracking
Real-Time Bubble Recognition
Published:
Computer vision system for real-time bubble detection and recognition
publications
Control of a Lower Limb Exoskeleton Using Learning from Demonstration and an Iterative Linear Quadratic Regulator Controller: A Simulation Study
Published in IEEE Engineering in Medicine & Biology Society (EMBC), 2021
Imitation learning and iLQR control for lower-limb exoskeleton
A sEMG Proportional Control for the Gripper of Patient Side Manipulator in da Vinci Surgical System
Published in IEEE Engineering in Medicine & Biology Society (EMBC), 2022
sEMG biofeedback control for surgical robot gripper
Laparoscopic Photoacoustic Imaging System Integrated with the da Vinci Surgical System
Published in SPIE Medical Imaging: Image-Guided Procedures, Robotic Interventions, and Modeling, 2023
Integration of photoacoustic imaging with the da Vinci surgical system
Markerless Suture Needle Tracking from a Robotic Endoscope Based on Deep Learning
Published in IEEE International Symposium on Medical Robotics (ISMR), 2023
Deep learning approach for markerless suture needle tracking
Development and Evaluation of a Markerless 6 DOF Pose Tracking Method for a Suture Needle from a Robotic Endoscope
Published in Journal of Medical Robotics Research, 2023
Markerless 6-DOF pose tracking for suture needles
Intraoperative Laparoscopic Photoacoustic Image Guidance System in the da Vinci Surgical System
Published in Biomedical Optics Express, 2023
Intraoperative photoacoustic image guidance system
Realistic Data Generation for 6D Pose Estimation of Surgical Instruments
Published in IEEE International Conference on Robotics and Automation (ICRA), 2024
Synthetic data generation pipeline for surgical instrument pose estimation
Suturing Tasks Automation Based on Skills Learned From Demonstrations: A Simulation Study
Published in IEEE International Symposium on Medical Robotics (ISMR), 2024
Imitation learning approach for surgical suturing automation
A Hybrid Model and Learning-Based Force Estimation Framework for Surgical Robots
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Hybrid approach combining model-based and learning-based methods for force estimation
Loss Distillation via Gradient Matching for Point Cloud Completion with Weighted Chamfer Distance
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Novel chamfer distance loss function achieving SOTA results
SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking
Published in Conference on Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks Track, 2024
Hierarchical platform for surgical policy learning published at NeurIPS
FIRE-3DV: Framework-Independent Rendering Engine for 3D Graphics Using Vulkan
Published in IEEE International Conference on Robotic Computing (IRC), 2024
Vulkan-based rendering engine reducing rendering time by 84%
An Augmented Reality Measurement Tool for the da Vinci Research Kit
Published in IEEE International Symposium on Medical Robotics (ISMR), 2025
AR-based measurement tool for the dVRK surgical system
Surgical Robotics Environment in NVIDIA Isaac Sim for Robot-Assisted Suturing
Published in IEEE International Symposium on Medical Robotics (ISMR), 2025
High-fidelity surgical robotics simulation environment in NVIDIA Isaac Sim
SurgPose: A Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking
Published in IEEE International Conference on Robotics and Automation (ICRA), 2025
Dataset for surgical tool pose estimation and tracking
Gravity Compensation of the dVRK-Si Patient Side Manipulator Based on Dynamic Model Identification
Published in The Hamlyn Symposium on Medical Robotics (HSMR), 2025
Gravity compensation implementation for dVRK-Si PSM using dynamic model identification
Robot-Assisted Suturing in Surgical Simulation: A Comparative Analysis between NVIDIA’s Simulator and an Open Platform
Published in Journal of Medical Robotics Research, 2026
Comparative analysis of surgical simulation platforms for robot-assisted suturing
SurgSync: Time-Synchronized Multi-modal Data Collection Framework and Dataset for Surgical Robotics
Published in IEEE International Conference on Robotics and Automation (ICRA), 2026
Time-synchronized multi-modal data collection framework for surgical robotics
research
Multi-Modal Data Collection and Analysis for Surgical Robotics
Published:
Multi-Modal Time-Synchronized Data Collection and Post-Processing Framework for Surgical Robotics, along with datasets and AI-driven applications (stay tuned!)
Digital Twin for Suturing Scenes
Published:
High-fidelity simulation environments for suturing execution on AMBF and NVIDIA Isaac Sim
Surgical Robot Dynamic Model Identification and Control
Published:
Dynamic model identification and gravity compensation (shown) for dVRK-Si PSM using convex optimization; upcoming journal paper is on the way, stay tuned! Develop a novel force estimation method using a modal-based and learning-based hybrid approach for trocar interaction.
SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking
Published:
Dataset for surgical tool pose estimation and tracking, using fluorescent paints to annotate the keypoints of the tools.
Suturing Automation with Robot Learning
Published:
Implementation of imitation learning algorithms for automating surgical suturing tasks in simulation
Suturing Needle Tracking and Pose Estimation in Simulation
Published:
Real-time markerless 6D pose estimation for suturing needle in simulation, achieving 1.4mm and 2.9 degrees median errors
Surgical Robotics System Integration and Teleoperation
Published:
Integration of photo-acoustic probes, advanced teleoperation with sEMG biofeedback, and etc.
Point Cloud Completion
Published:
Novel chamfer distance loss function achieving state-of-the-art results on benchmark datasets
Lower-Limb Exoskeleton Walking Strategy Learning
Published:
Automated walking strategy using imitation learning and iLQR control
Reach-to-grasp imitation learning for baxter robot in simulation
Published:
Reach-to-grasp imitation learning for baxter robot in simulation (V-REP)
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