Overcoming Imperfect Kinematics in Surgical Robotics Through Sim-to-Real Visuomotor Learning (opens in new tab)

Robot-Assisted Surgery is integral to modern minimally invasive procedures, with automation emerging as the next frontier to enhance precision and reduce surgeon fatigue. This evolution is largely impeded by the inherent kinematic inaccuracies of surgical robots, where unreliable internal sensors lead to significant control errors. While previous methods attempted to mitigate these issues through complex model-based calibration, they often suffe...