PUBLICATIONS

[15] Asymmetric Rolling Contact Joint for Enhanced Payload Capabilities  [pdf]

J. Ahn, M. Hwang, D. Kong, J. Kim, and D. S. Kwon, IEEE/ASME Transactions on Mechatronics, July, 2023 (Early Access)

[14] Sigmoidal Auxiliary Tendon-Driven Mechanism Reinforcing Structural Stiffness of Hyper-Redundant Manipulator for Endoscopic Surgery  [pdf]

H. Kim, J. M. You, M. Hwang, K. Kyung, and D. S. Kwon, Soft Robotics, April 13, 2023

[13] Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans  [pdf]

M. Hwang, J. Ichnowski, B. Thananjeyan, D. Seita, S. Paradis, D. Fer, T. Low, and K. Goldberg

IEEE Transactions on Automation Science and Engineering (T-ASE) (presented at IROS)), Vol. 20, No. 2, pp. 909-922, April 2023 

[12] Bed-mounted laparoscopic surgical robot system with novel positioning arm mechanism  [pdf]

D. G. Chung, M. Hwang, B. Cheon, D. Kong, D. H. Kang, D. H. Lee, C. K. Kim, D. Kim, J. M. Han, Y. G. Kim, D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, April, 2022

[11] Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones  [pdf]

B. Thananjeyan, A. Balakrishna, S. Nair, M. Luo, K. Srinivasan, M. Hwang, J. E. Gonzalez, J. Ibarz, C. Finn, and K. Goldberg

IEEE Robotics and Automation Letters (RA-L) (presented at ICRA), Vol. 6, No. 3, pp. 4915-4922, July, 2021

[10] A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery  [pdf]

U. J. Yang, D. Kim, M. Hwang, D. Kong, J. Kim, Y. Hoon, Nho, W. Lee, and D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, July, 2021

[9] A Highly Intuitive and Ergonomic Redundant Joint Master Device for 4-Degrees of Freedom Flexible Endoscopic Surgery Robot  [pdf]

J. Ahn, J. Kim, H. Lee, M. Hwang, and D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 17, No. 1, Feb. 2021

[8] Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation  [pdf]

M. Hwang, B. Thananjeyan, S. Paradis, D. Seita, J. Ichnowski, D. Fer, T. Low, and K. Goldberg

IEEE Robotics and Automation Letters, Vol. 5, No. 4, pp. 5937-5944, Oct. 2020

[7] K-FLEX: A flexible robotic platform for scar-free endoscopic surgery  [pdf]

M. Hwang and D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No. 2, April 2020

[6] Evaluation of a robotic arm assisted endoscope to facilitate endoscopic submucosal dissection (with video)  [pdf]

M. Hwang, S. W. Lee, K. C. Park, H. J. Sul, and D. S. Kwon

Gastrointestinal Endoscopy, Vol. 91, No. 3, pp. 699-706, March 2020

[5]  Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot  [pdf]

H. Kim, M. Hwang, J. Kim, J. M. You, C. S. Lim, and D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No. 1, Feb. 2020

[4]  Strong Continuum Manipulator for Flexible Endoscopic Surgery  [pdf]

M. Hwang and D. S. Kwon

IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 5, pp. 2193-2203, Oct. 2019

[3]  A 3-Degrees-of-Freedom Gravity-Compensated Robotic Arm with Roll-Pitch-Translational Motion for Remote Center of Motion  [pdf]

C. K. Kim, D. G. Chung, M. Hwang, B. Cheon, H. Kim, J. Kim, and D. S. Kwon

IEEE Robotics and Automation Letters, Vol. 4, No. 4, pp. 3473-3480, Oct. 2019

[2]  A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system  [pdf]

H. Lee, B. Cheon, M. Hwang, D. Kang, and D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 14, No. 1, Feb. 2018

[1]  A single port surgical robot system with novel elbow joint mechanism for high force transmission  [pdf]

M. Hwang, U. J. Yang, D. Kong, D. G. Chung, J. Lim, D. H. Lee, D. H. Kim, D. Shin, T. Jang, J. W. Kim, and D. S. Kwon

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 13, No. 4, Dec. 2017

[46]     Design of a Multi-bending Flexible Manipulator for Gastrointestinal Surgery  [To be uploaded]

Hyojae Park and Minho Hwang

The 22nd International Conference on Control, Automation and Systems (ICCAS), Nov. 27-Dec. 1, 2022

[45]     Design and Kinematics Modeling of Flexible Continuum Manipulator for Endoscopic Surgery  [To be uploaded]

Seong Hyeok Jang, Junhyun Park, and Minho Hwang

The 22nd International Conference on Control, Automation and Systems (ICCAS), Nov. 27-Dec. 1, 2022

[44]     Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles  [pdf]

Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022

[43]     Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies  [pdf]

P. Sundaresan, J. Grannen, B. Thananjeyan, A. Balakrishna, J. Ichnowski, E. Novoseller, M. Hwang, M. Laskey, J. E. Gonzalez, K. Goldberg

Robotics: Science and Systems (RSS), July 12–16, 2021

[42]     Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation  [pdf]

S. Paradis, M. Hwang, B. Thananjeyan, J. Ichnowski, D. Seita, D. Fer, T. Low, and K. Goldberg

IEEE International Conference on Robotics and Automation (ICRA), May 30, 2021

[41]     Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics  [pdf]

A. Ganapathi, P. Sundaresan, B. Thananjeyan, A. Balakrishna, D. Seita, J. Grannen, M. Hwang, R. Hoque, J. E. Gonzalez, N. Jamali, K. Yamane, S. Iba, and K. Goldberg

IEEE International Conference on Robotics and Automation (ICRA), May 30, 2021

[40]     Superhuman Bilateral Surgical Peg  Transfer using Depth-Sensing and Deep Recurrent Neural Networks  [pdf]

M. Hwang, J. Ichnowski, B. Thananjeyan, D. Seita, S. Paradis, D. Fer, T. Low, and K. Goldberg

IEEE International Conference on Robotics and Automation (ICRA) Workshop, May 30, 2021

[39]     Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones  [pdf]

B. Thananjeyan, A. Balakrishna, S. Nair, M. Luo, K. Srinivasan, M. Hwang, J. E. Gonzalez, J. Ibarz, C. Finn, and K. Goldberg

Neural Information Processing Systems (NeurIPS) Workshop, Dec. 6, 2020

[38]     Payload optimization of surgical instruments with rolling joint mechanisms  [pdf]

D. H. Lee, M. Hwang, J. Kim, and D. S. Kwon

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 25-Dec. 24, 2020

[37]     Deep Imitation Learning of Sequential Fabric Smoothing Policies  [pdf]

D. Seita, A. Ganapathi, R. Hoque, M. Hwang, E. Cen, A. K. Tanwani, A. Balakrishna, B. Thananjeyan, J. Ichnowski, N. Jamali, K. Yamane, S. Iba, J. Canny, and K. Goldberg

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 25-Dec. 24, 2020

[36]     Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation  [pdf]

M. Hwang, B. Thananjeyan, S. Paradis, D. Seita, J. Ichnowski, D. Fer, T. Low, and K. Goldberg

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) Workshop on Cognitive Robotic Surgery, Oct. 25-Dec. 24, 2020

[35]  Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot  [pdf]

M. Hwang*, D. Seita*, B. Thananjeyan, J. Ichnowski, S. Paradis, D. Fer, T. Low, and K. Goldberg

International Symposium on Medical Robotics (ISMR), Nov. 18-20, 2020

[34]  Untangling Dense Knots by Learning Task-Relevant Keypoints  [pdf]

J. Grannen, P. Sundaresan, B. Thananjeyan, J. Ichnowski, A. Balakrishna, M. Hwang, V. Viswanath, M. Laskey, J. E. Gonzalez, and K. Goldberg

Conference on Robot Learning (CoRL), Nov. 16-18, 2020

[33]  Ex-vivo suturing trials with a 5-DoF robot arm for flexible endoscopic surgery robot  [pdf]

J. Kim, J. Ahn, M. Hwang, H. Kim, D. Baek, J. You, D. Lee, and D. S. Kwon

The 15th Asian Conference on Computer Aided Surgery, Nov. 2019

[32]  Effects of Flexible Surgery Robot on Endoscopic Procedure: Preliminary Bench-Top User Test  [pdf]

J. Kim, M. Hwang, D. Lee, H. Kim, J. Ahn, J. You, D. Baek, and D. S. Kwon

IEEE International Conference on Robot and Human Interactive Communication (Ro-Man), Oct. 14-18, 2019

[31]  Development of 5-DOFs Master-Slave system with intentional adjustment of hysteresis based on antagonistic tendon control

H. Kim, J. Kim, M. Hwang, and D. S. Kwon

12th Hamlyn Symposium on Medical Robotics, Jun. 23-26, 2019

[30]  A robotic surgical arm dockable on an endoscope to prevent organ injury during insertion

D. H. Lee, M. Hwang, J. Kim, and D. S. Kwon

The 33rd Computer Assisted Radiology and Surgery (CARS), June 18-21, 2019

[29]  Robotic endoscopy system (easyEndo) with a robotic arm mountable on a conventional endoscope  [pdf]

D. H. Lee, M. Hwang, and D. S. Kwon

IEEE International Conference on Robotics and Automation (ICRA), May 20-24, 2019

[28]  A flexible endoscopic surgery robot K-FLEX and its feasibility validation in in-vivo animal trial (Best paper awarded)  [pdf]

M. Hwang, J. H. Kim, D. H. Lee, J. Ahn, J. You, D. Baek, H. Kim, D. Son, and D. S. Kwon

The 14th Asian Conference on Computer Aided Surgery, Nov. 16-18, 2018

[27]  Hysteresis reduction of Tendon-Sheath System for Flexible Surgery Robot using Vision-based Reference Compensation

D. Baek, M. Hwang, J. H. Seo, J. Kim, and D. S. Kwon, The 14th Asian Conference on Computer Aided Surgery, Nov. 16-18, 2018

[26]  Cascade-based antagonistic tendon control for hysteresis reduction of flexible joint robot

H. Kim, M. Hwang, J. Kim, J. M. You, and D. S. Kwon

The 14th Asian Conference on Computer Aided Surgery, Nov. 16-18, 2018

[25]  Master Device for Flexible Endoscopic Surgery Robot: Design Considerations for Intuitiveness and Low Fatigue

J. Ahn, J. You, M. Hwang, J. Kim, D. G. Chung, and D. S. Kwon

The 14th Asian Conference on Computer Aided Surgery, Nov. 16-18, 2018

[24]  All-joint-control master device for translation-roll-yaw-grasping motion and its effectiveness on surgical task

J. M. You, M. Hwang, J. Kim, H. Kim, and D. S. Kwon

The 14th Asian Conference on Computer Aided Surgery, Nov. 16-18, 2018

[23]  Flexible Endoscopic Surgery Robot System, K-FLEX

M. Hwang, D. H. Lee, J. Ahn, J. You, D. Baek, H. Kim, R. R. Kirchmeier, and D. S. Kwon

International Conference on Control, Automation and Systems (ICCAS), Oct. 17-20, 2018

[22]  Flexible Endoscopic Surgery Robot System, K-FLEX

(Best application award and overall winner)

M. Hwang, D. H. Lee, J. Ahn, J. You, D. Baek, H. Kim, R. R. Kirchmeier, and D. S. Kwon Surgical Robot Challenge 2018, pp. 14, June 24, 2018

[21]  Comparison of Master-Slave Mapping Strategies for Efficient Robotic Endoscopy

J. Ahn, M. Hwang, D. Baek, H. Kim, and D. S. Kwon

11th Hamlyn Symposium on Medical Robotics 2018, pp. 9, June 24-27, 2018

[20]  Cobra-type robotic arm for tissue traction attachable to robotized endoscopy system (EasyEndo)

D. H. Lee, B. Cheon, M. Hwang, and D. S. Kwon

11th Hamlyn Symposium on Medical Robotics 2018, pp. 8, June 24-27, 2018

[19]  Kinematic Analysis of Needle-like Overtube Supporting Robot

J. Ahn, M. Hwang, and D. S. Kwon

15th Int. Conf. on Ubiquitous Robots, June 26-30, 2018

[18]  Path Planning for Automation of Surgery Robot based on Probabilistic Roadmap and Reinforcement Learning

D. Baek, M. Hwang, H. Kim, and D. S. Kwon

15th Int. Conf. on Ubiquitous Robots, June 26-30, 2018

[17]  Robust trajectory tracking of Master-Slave surgery robot system based on PD with Integral Sliding Mode Control

H. Kim, M. Hwang, D. Baek, and D. S. Kwon

15th Int. Conf. on Ubiquitous Robots, June 26-30, 2018

[16]  Customized master controller considering kinematic structure of slave surgical robot

D. Baek, M. Hwang, H. Kim, and D. S. Kwon

The 13th Asian Conf. on Computer Aided Surgery, Nov. 28, 2017

[15]  A study on mapping strategy for master-slave surgery robot system with redundancy

H. Kim, M. Hwang, D. Baek, and D. S. Kwon

The 13th Asian Conf. on Computer Aided Surgery, Nov. 28, 2017

[14]  Evaluation of Motion Scaling Effect on Simulated Microsurgery related Task Performance using a Stylus Pen

D. S. Kim, U. J. Yang, M. Hwang, D. Kong, and D. S. Kwon

The 13th Asian Conf. on Computer Aided Surgery, Nov. 28, 2017

[13]  Strong Continuum Manipulator for Flexible Endoscopic Surgery

M. Hwang and D. S. Kwon

10th Hamlyn Symposium on Medical Robotics 2017, pp. 63, June 25-28, 2017

[12]  Endo-Trainer: a low-cost training system for da Vinci robotic surgery

H. Lee, B. Cheon, D. Kim, D. Lee, D. Jeong, M. Hwang, D. Kang, H. Baek, and D. S. Kwon

Computer Assisted Radiology and Surgery, pp. 244-245, June 20-24, 2017

[11]  Gravity Compensation Mechanism for Roll-Pitch Rotation of a Robotic Arm

D. G. Chung, M. Hwang, J. Won, and Dong-Soo Kwon

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 338-343, Oct. 9-14, 2016

[10]  Indirect measure of joint torques of surgical instrument in robot-assisted laparoscopic surgery

D. Kong, M. Hwang, D. Kang, and D. S. Kwon

13th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, Aug 19-22, 2016

[9]  Development of an Elbow Equipped Instrument for Robotic Single Port Laparoscopy

D. Gong, M. Hwang, H. Lee, and D. S. Kwon

The 11th Asian Conf. on Computer Aided Surgery, July 9, 2015

[8]  A steerable endoscopic robot for endonasal skull base surgery: development and a cadaver experiment

(Best paper awarded)

K. Kim, W. Lee, Y. Kim, D. Choi, T. Choi, S. Kim, M. Hwang, D. Kwon, S. Kim, S. Kang

19th Annual Conf. of the International Society of Computer Aided Surgery, pp. 71-72, June 24-27, 2015

[7]  Compact surgical robot system using elbowed instruments for SPL

D. Y. Gong, D. G. Chung, M. Hwang, H. Lee, J. W. Suh, and D. S. Kwon

The 29th Computer Assisted Radiology and Surgery, pp. 245-246, Feb. 24-27, 2015

[6]  7mm surgical instrument for single port surgery robot with link type elbow

J. Lim, M. Hwang, and D. S. Kwon

The 29th Computer Assisted Radiology and Surgery, pp. 251-253, Feb. 24-27, 2015

[5]  A Portable Endoscopic Tool Handler (PETH) with its Ex-vivo ESD Trials

M. Hwang, H. Chung, and D. S. Kwon

The 11th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, pp. 85-87, Nov. 12-15, 2014

[4]  Design and Verification of a Portable Endoscopic Tool Handler: PETH

M. Hwang, H. Chung, and D. S. Kwon

The 10th Asian Conf. on Computer Aided Surgery, Jan. 31, 2014

[3]  A Flexible Endoscopic Surgery Robot for NOTES and its In-vivo Animal Experiment

(Best paper awarded)

M. Hwang, J. Lee, Y. Park, J. Seo, S. Kim, Y. Na, Y. Kim, S. Jeong, and D. S. Kwon

The 9th Asian Conf. on Computer Aided Surgery, Sep. 16-18, 2013

[2]  Design of a Compact Laparoscopic Assistant Robot: KaLAR 2

J. Lim, D. Y. Gong, M. Hwang, and D. S. Kwon

The 9th Asian Conf. on Computer Aided Surgery, Sep. 16-18, 2013

[1]  Miniaturized force transducer for Minimally Invasive Surgical Instrument

M. Hwang, D. S. Kwon, and J. H. Kim

The 29th Computer Assisted Radiology and Surgery, June 26, 2013