Event
OCT closed-loop framework achieves soft tissue shape control
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Chaoyu Zhang and other authors propose an OCT-guided data-driven framework that learns soft tissue shape control from user demonstrations and executes it with OCT closed-loop feedback. In 12 configurations and 576 phantom trials, covering 3-DOF depth and 6-DOF orientation tasks: the Explicit policy with residual conditioning on voxel point clouds achieved a Shape RMSE of 0.534 mm on depth tasks and 0.443 mm on orientation tasks; full-volume Diffusion with residual conditioning reduced orientation error from 0.748 mm to 0.555 mm. The authors state that the framework was additionally evaluated in 60 ex vivo porcine tissue trials, where the final geometric error was comparable to human demonstrations.
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- OCT-Guided Soft Tissue Geometric Modeling: 3D Representations for Data-Driven Closed-Loop Shape Control
The study proposes an OCT-guided data-driven framework that learns soft tissue shape control from user demonstrations and executes it with closed-loop OCT feedback. In 12 configurations and 576 phantom trials, the Explicit policy using residual-conditioned voxel point clouds achieved Shape RMSE of 0.534 mm on the depth task and 0.443 mm on the directional task; full-volume Diffusion with residual conditioning reduced directional error from 0.748 mm to 0.555 mm.
arXiv cs.RO ·