Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression. - Jeffrey Mahler; Sanjay Krishnan; Michael Laskey; Siddarth Sen; Adithyavairavan Murali; Ben Kehoe; Sachin Patil; Jiannan Wang 001; Mike Franklin; Pieter Abbeel; Kenneth Y. Goldberg (CASE, 2014)

A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. - Stephen McKinley; Animesh Garg; Siddarth Sen; Rishi Kapadia; Adithyavairavan Murali; Kirk A. Nichols; Susan Lim; Sachin Patil; Pieter Abbeel; Allison M. Okamura; Ken Goldberg (CASE, 2015)

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. - Adithyavairavan Murali; Siddarth Sen; Ben Kehoe; Animesh Garg; Seth McFarland; Sachin Patil; W. Douglas Boyd; Susan Lim; Pieter Abbeel; Kenneth Y. Goldberg (ICRA, 2015)

Models of human-centered automation in a debridement task. - Kirk A. Nichols; Adithyavairavan Murali; Siddarth Sen; Ken Goldberg; Allison M. Okamura (IROS, 2015)

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks. - Kamran Shamaei; Yuhang Che; Adithyavairavan Murali; Siddarth Sen; Sachin Patil; Ken Goldberg; Allison M. Okamura (IROS, 2015)

Tumor localization using automated palpation with Gaussian Process Adaptive Sampling. - Animesh Garg; Siddarth Sen; Rishi Kapadia; Yiming Jen; Stephen McKinley; Lauren Miller; Ken Goldberg (CASE, 2016)

An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. - Stephen McKinley; Animesh Garg; Siddarth Sen; David V. Gealy; Jonathan P. McKinley; Yiming Jen; Menglong Guo; Walter Doug Boyd; Ken Goldberg (CASE, 2016)

Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization. - Siddarth Sen; Animesh Garg; David V. Gealy; Stephen McKinley; Yiming Jen; Ken Goldberg (ICRA, 2016)