Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks

19 Mar 2020Minho HwangBrijen ThananjeyanSamuel ParadisDaniel SeitaJeffrey IchnowskiDanyal FerThomas LowKen Goldberg

Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching and hysteresis. We propose a novel approach to efficiently calibrate such robots by placing a 3D printed fiducial coordinate frames on the arm and end-effector that is tracked using RGBD sensing... (read more)

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