Axel Krieger
Johns Hopkins University
収録論文 36本 ・ フィジカルAI/ロボット学習
模倣学習手術支援/深度推定
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- SurgVIL: オープンソース手術動画による手術ロボット模倣学習の大規模化模倣学習2026/8/17
手術ロボットの模倣学習において、実組織の動画データから弱い教師信号として運動学を推定し、ファントムデータと組み合わせて学習することで、実組織や分布外環境への汎化性能を向上させるフレームワークを提案した。
- AIによる単一ショット構造光深度再構成：リアルタイム腹腔鏡手術ガイダンスのための手術支援/深度推定2026/8/5
受動的LED照明とバイナリマスクを用いた同期不要の単一ショット深度センシングプラットフォームを開発し、VQ-VAE事前分布とU-Net深度ヘッドで深度を推定、26Hzで動作することを示した。
- AI-based single-shot structured-light depth reconstruction for real-time laparoscopic surgical guidance2026/8/1
- Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow2026/4/1
- Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics2026/4/1
- Modeling and Control of a Pneumatic Soft Robotic Catheter Using Neural Koopman Operators2026/3/1
- OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots2026/3/1
- Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions2026/3/1
- Fluoroscopy-Constrained Magnetic Robot Control via Zernike-Based Field Modeling and Nonlinear MPC2026/2/1
- A Mobile Magnetic Manipulation Platform for Gastrointestinal Navigation with Deep Reinforcement Learning Control2026/1/1
- 3D Path Planning for Robot-assisted Vertebroplasty from Arbitrary Bi-plane X-ray via Differentiable Rendering2025/12/1
- SurgiPose: Estimating Surgical Tool Kinematics from Monocular Video for Surgical Robot Learning2025/12/1
- A Supervised Autonomous Resection and Retraction Framework for Transurethral Enucleation of the Prostatic Median Lobe2025/11/1
- Investigating Robot Control Policy Learning for Autonomous X-ray-guided Spine Procedures2025/11/1
- SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing2025/10/1
- Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning2025/10/1
- Cosmos-Surg-dVRK: World Foundation Model-based Automated Online Evaluation of Surgical Robot Policy Learning2025/10/1
- SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions2025/9/1
- Towards Autonomous Robotic Electrosurgery via Thermal Imaging2025/9/1
- AURA-CVC: Autonomous Ultrasound-guided Robotic Assistance for Central Venous Catheterization2025/7/1
- SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learning2025/5/1
- Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms2025/3/1
- From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction2025/3/1
- Towards Fluorescence-Guided Autonomous Robotic Partial Nephrectomy on Novel Tissue-Mimicking Hydrogel Phantoms2025/3/1
- Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery2025/2/1
- Tracking Tumors under Deformation from Partial Point Clouds using Occupancy Networks2024/11/1
- Autonomous Robotic System with Optical Coherence Tomography Guidance for Vascular Anastomosis2024/10/1
- Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks2024/7/1
- Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers2024/2/1
- General-purpose foundation models for increased autonomy in robot-assisted surgery2024/1/1
- Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues2023/11/1
- Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots2023/10/1
- Overcoming the Force Limitations of Magnetic Robotic Surgery: Impact-based Tetherless Suturing2021/7/1
- Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue2021/5/1
- Medical Robots for Infectious Diseases: Lessons and Challenges from the COVID-19 Pandemic2020/12/1
- Telerobotic Operation of Intensive Care Unit Ventilators2020/10/1