Browsing by Author "Sunal, Begüm"
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Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
Sunal, Begüm; Öztop, Erhan; Bebek, Özkan (IEEE, 2019)In a robotic-assisted surgical system, fine and precise movement is essential. However, when the user wishes to cover a wider area during tele-operation, the configuration designed for precise motion may restrict the user ... -
Learning medical suturing primitives for autonomous suturing
Amirshirzad, Negin; Sunal, Begüm; Bebek, Özkan; Öztop, Erhan (IEEE, 2021)This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired ... -
Tele-operation and control of robotic surgical assistants for suturing task
In a robot-assisted surgical systems, optimizations in tele-operation can lower the surgeon's physical and mental exhaustion and cognitive load, as well as the operation's completion time. As a result, it can considerably ...
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