Surgical Robotics

Latest papers 127

31 papers in the last four weeks, up 94% on the four weeks before. 0.2% of all new papers.

MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators
Feb 18, 2026Junhyun Park, Chunggil An, Myeongbo Park +3Object Pose Estimation Continuum Robot Control
Department of Robotics and Mechatronics Engineering, DGIST, Daegu 42988, Republic of Korea · AI Research Lab, DEEPNOID, Seoul, Republic of Korea
Expanding the Workspace of Electromagnetic Navigation Systems Using Dynamic Feedback for Single- and Multi-agent Control
Nov 23, 2025Jasan Zughaibi, Denis von Arx, Maurus Derungs +5Multi-Agent Control Feedback Control
Multi-Scale Robotics Lab, ETH Zurich, 8092 Zurich, Switzerland · Learning and Dynamical Systems Group, Max Planck Institute for Intelligent Systems, 72076 Tübingen, Germany
NeuralBoneReg: An Instance-Specific Label-Free Point Cloud-Based Method for Multi-Modal Bone Surface Registration
Nov 18, 2025Luohong Wu, Matthias Seibold, Nicola A. Cavalcanti +5Medical Image Registration Point Cloud Registration
Research in Orthopedic Computer Science, Balgrist University Hospital, University of Zurich, Lengghalde 5, Zurich, 8008, Zurich, Switzerland · AI Center, ETH Zurich, Ramistrasse 101, Zurich, 8092, Zurich, Switzerland
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
Oct 3, 2025Zekai Liang, Xiao Liang, Soofiyan Atar +7Robotic Control Robot Teleoperation
Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA. · School of Electrical and Computer Engineering, Cornell University, Ithaca, NY 14853 USA. · UC San Diego Health, La Jolla, CA 92037 USA.
SurgXBench: Explainable Vision-Language Model Benchmark for Surgery
May 16, 2025Jiajun Cheng, Xianwu Zhao, Sainan Liu +5VLM Evaluation Surgical Video Understanding
Arizona State University · Intel Labs · University of California, Merced +2
Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
Mar 18, 2025Peihan Zhang, Derek Chen, Ishan Duriseti +7Robotic Control Inverse Kinematics
Jacobs School of Engineering, University of California San Diego, La Jolla, CA 92093 USA · School of Medicine, University of California San Diego, La Jolla, CA 92093 USA · School of Medicine, University of Missouri-Kansas City, Kansas City, MO 64110 USA
SurgRAW: Multi-Agent Workflow with Chain of Thought Reasoning for Robotic Surgical Video Analysis
Mar 13, 2025Chang Han Low, Ziyue Wang, Tianyi Zhang +4Surgical Video Understanding Multimodal CoT Reasoning
National University of Singapore, Singapore · Bioinformatics Institute (BII), Agency for Science, Technology and Research (A*STAR), Singapore · Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) and the Department of Medical Physics and Biomedical Engineering, University College London, UK

Feb 18, 2026J/K move · Enter open · S save

MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators

Junhyun Park, Chunggil An, Myeongbo Park, Ihsan Ullah+2

Department of Robotics and Mechatronics Engineering, DGIST, Daegu 42988, Republic of Korea · AI Research Lab, DEEPNOID, Seoul, Republic of Korea

Object Pose Estimation Continuum Robot Control Vision-Based Robot Control Surgical Robotics

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Flexible endoscopic continuum manipulators offer high dexterity and access to complex anatomy, but nonlinear hysteresis limits feedforward control accuracy. Closed-loop control can compensate for these errors but requires accurate six-degree-of-freedom (6D) end-effector pose feedback. We present MarUco, a markerless 6D pose estimation framework for closed-loop control using only stereo vision during operation. A photorealistic pseudo-rigid-body simulation pipeline generates large-scale annotated training data without manual labeling. A multifeature fusion network integrates masks, keypoints, heatmaps, and bounding boxes from both stereo views to estimate an initial pose, followed by a learned single-pass render-and-compare module that refines the pose without iterative optimization. Kinematics-free hand-eye calibration estimates camera-to-robot-base extrinsics, and self-supervised adaptation uses unlabeled real stereo pairs to mitigate sim-to-real pose error. Across 1,000 real samples, MarUco achieves translation and rotation errors of 0.78

\pm

0.50 mm and 3.07

\pm

1.25°, respectively, with a total processing time of 52.4 ms per stereo pair. In closed-loop experiments over eight reference paths, MarUco achieves a mean terminal translation error of 1.8 mm, an 88% reduction relative to uncompensated open-loop control. To the best of our knowledge, this is the first markerless position-based visual servoing framework for continuum manipulators.