Zhong-Hao Zhang

Object-Centered Reconstruction for Vision-Based 3D Force Estimation

Excessive force may damage tissue and increase the risk of anastomotic leakage in robotic colorectal surgery. Although the da Vinci 5 provides force sensing, this capability is unavailable on earlier da Vinci systems and many other surgical robotic platforms. In this work, we present a vision-based pipeline for estimat...