Jinseok Lee

A simulator in which tissue is reconstructed from a fixed-view RGB-D recording of the surgical field, composited to remove the instruments, closed into watertight volumes and tetrahedralised, intended for closed-loop feasibility, safety, contact and policy screening.

A surgical instrument-state logger that clips onto a conventional instrument without modifying the part that enters the patient and fuses a six-axis IMU and a time-of-flight rangefinder with a markerless camera in an error-state Kalman filter under the remote center of motion (RCM) of the trocar is presented.

An end-to-end pipeline that captures motion in the operating room and uses it to train a surgical robot policy, validated on live animals, and shows that demonstrations recorded from a surgeon's own instruments are sufficient to train, select and deploy a bimanual surgical policy in vivo.