Debridement

Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure

This is the supplemental website for the paper:

Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure

Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John Canny, Ken Goldberg

ICRA 2018.

For BiBTeX, please use: https://people.eecs.berkeley.edu/~seita/papers/2018_ICRA.txt

For questions, contact Daniel: seita@cs.berkeley.edu

UPDATES:

September 7, 2017: created and updated this website with three videos, two for pumpkin seeds and one for raisins.
September 15, 2017: paper submitted to ICRA 2018.
September 18, 2017: source code released. It is available here on GitHub!
September 19, 2017: four new videos released, one of which was used for the actual submission supplemental video.
September 21, 2017: the paper is on arXiv!

I used this for the supplemental video for the ICRA submission.

I videotaped this with a stable camera. It shows an 8/8 success instance with pumpkin seeds (DNN+RF).

I videotaped this with a stable camera. It shows some failure modes with pumpkin seeds (DNN+RF).

I videotaped this with a stable camera. It shows an 8/8 success instance with raisins (DNN+RF).

I took this with my cell phone. It shows some failure modes for pumpkin seeds, using a DNN only.

I took this with my cell phone. It shows an 8/8 success case with pumpkin seeds, using DNN+RF.

I took this with my cell phone. It shows an 8/8 success rate with raisins, using a DNN only.

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