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.
Toward force estimation in robot-assisted surgery using deep learning with vision and robot state,
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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.