Adding force measurements to an imitation-learning policy improves autonomous tissue retraction success on a dVRK robot, though the reported gentleness advantage is much weaker on successful trials alone.
Maximizing console surgeon independence during robot-assisted renal surgery by using the fourth arm and tilepro,
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Force-Aware Autonomous Robotic Surgery
Adding force measurements to an imitation-learning policy improves autonomous tissue retraction success on a dVRK robot, though the reported gentleness advantage is much weaker on successful trials alone.