Papers
1–3 of 3Research Paper·Mar 12, 2026
Towards Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator
The da Vinci Research Kit (dVRK) is widely used for research in robot-assisted surgery, but most modeling and control methods target the first-generation dVRK Classic. The recently introduced dVRK-Si,...
7.0 viability
Research Paper·Jan 29, 2026
MoE-ACT: Improving Surgical Imitation Learning Policies through Supervised Mixture-of-Experts
Imitation learning has achieved remarkable success in robotic manipulation, yet its application to surgical robotics remains challenging due to data scarcity, constrained workspaces, and the need for ...
6.0 viability
Research Paper·Mar 16, 2026
Surgical Robot, Path Planning, Joint Space, Riemannian Manifolds
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot o...
4.0 viability