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Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks [article]

Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
2020 arXiv   pre-print
We use 3D-printed fiducial markers with depth sensing and a deep recurrent neural network to improve the precision of the dVRK to less than 1 mm.  ...  We use the da Vinci Research Kit (dVRK) surgical robot with a Zivid depth sensor, and automate three variants of the peg-transfer task: unilateral, bilateral without handovers, and bilateral with handovers  ...  We thank Jaydev Desai and the ISMR program chairs, and Gary Guthart, Simon DiMaio, and Dale Bergman of Intuitive Surgical.  ... 
arXiv:2012.12844v2 fatcat:f5vyqvr3wzh5hbzjdjopbv6s4u