Selected Projects
I document selected projects, publications, and technical notes below. Each entry expands to its own page with details, media, and supporting resources. Use this page as the table of contents for everything research related.
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dARt Vinci: Egocentric Data Collection for Surgical Robot Learning at Scale
Your browser does not support the video tag. Data scarcity has long been an issue in the robot learning community. Particularly, in safety-critical domains like surgical applications, obtaining high-quality data can be especially difficult. It poses …
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Robotic Transcranial Magnetic Stimulation
With our advanced robotic system, surgeons can easily and accurately deliver non-invasive stimulations to the cortical area of the brain. The system is designed to be easy to use and can be operated by a single person. The system is currently being tested in a …
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Robust Realtime Shape Estimation of Deformable Linear Object
Deformable Object Simulation Link to heading The existing methods of shape estimation of continuum objects create dense point clouds from camera images, and/or use distinguishable markers on a deformable body. They have natural limitations in realtime …
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SAMME: Segment Any Medical Model Extended
I’m excited to announce that our project SAMM has received many attentions from all over the world! Please reach out if you want to collaborate. SAMM allows users to directly leverage the powerful Segment Anything Model (SAM) to segment medical images …
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XREGI: Learning-based 2D/3D Fluoroscopic Image Registration
Learning-based 2D/3D Fluoroscopic Image Registration Link to heading We developed and maintained an open-source python package xregi that is used to compute the projection matrix between 2D x-ray images and 3D CT scans. This process is also called as 2D/3D …
Software & Open-source
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OpenIRIS: Eye Tracking Software for Vestibular and Oculomotor Research
I contributed to the development of OpenIRIS. OpenIris is an adaptable, open-source framework for video-based eye-tracking, developed in C# with a modular design for plugin extension. It supports online and offline recording, binocular pupil tracking, and 3-D …
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ROS Driver for Fantronic Endoscopic Camera
ROS1 image acquisition node for Fantronic/Geek Szitman endoscope camera. Supports USB connection. The camera can be purchased from Amazon from this link. With this ROS driver, you can easily use the endoscopic camera as wrist camera for da Vinci robot, who …
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PoseHub: Surgical Tool Tracking with AR Headset
PoseHub: Surgical Tool Tracking with AR Headset Link to heading We are developing a surgical tool tracking system that can be used with augmented reality headsets. The system is designed to provide real-time feedback to the surgeon about the location of the …
Technical Blog
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Install Nvidia Driver on Ubuntu 20.04
A specific guide about installing nvidia drivers on machine hosting Ubuntu OS.
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Configurations about Hugo-Coder Theme
A concise tutorial on how to build and host a website for free.