Imitation learning (IL) has shown immense promise in enabling autonomous dexterous manipulations, including in learning surgical tasks. To fully unlock the potential of IL for surgery, access to clinical datasets is needed, which unfortunately lack the kinematic data required for current IL approaches. A promising source of large-scale surgical demonstrations is monocular surgical videos available online, making monocular pose estimation a crucial step toward enabling large-scale robot learning. Towards this end, we propose SurgiPose, a differentiable rendering-based approach to estimate kinematic information from monocular surgical videos, eliminating the need for direct access to ground-truth kinematics. Our method infers tool trajectories and joint angles by optimizing tool pose parameters to minimize the discrepancy between rendered and real images. To evaluate the effectiveness of our approach, we conduct experiments on two robotic surgical tasks—tissue lifting and needle pickup—using the da Vinci Research Kit Si (dVRK Si). We train imitation learning policies with both ground-truth measured kinematics and with estimated kinematics from video and compare their performance. Our results show that policies trained on estimated kinematics achieve comparable success rates to those trained on ground-truth data, demonstrating the feasibility of using monocular video-based kinematic estimation for surgical robot learning. By enabling kinematic estimation from monocular surgical videos, our work lays the foundation for large-scale learning of autonomous surgical policies from online surgical data.

Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous suturing pipeline has yet to be demonstrated on physical hardware. We introduce SutureBot: an autonomous suturing benchmark on the da Vinci Research Kit (dVRK), spanning needle pickup, tissue insertion, and knot tying. To ensure repeatability, we release a high-fidelity dataset comprising 1,890 suturing demonstrations. Furthermore, we propose a goal-conditioned framework that explicitly optimizes insertion-point precision, improving targeting accuracy by 59\%-74\% over a task-only baseline. To establish this task as a benchmark for dexterous imitation learning, we evaluate state-of-the-art vision-language-action (VLA) models, including $\pi_0$, GR00T N1, OpenVLA-OFT, and multitask ACT, each augmented with a high-level task-prediction policy. Autonomous suturing is a key milestone toward achieving robotic autonomy in surgery. These contributions support reproducible evaluation and development of precision-focused, long-horizon dexterous manipulation policies necessary for end-to-end suturing. Dataset is available at: \href{https://huggingface.co/datasets/jchen396/suturebot}{Hugging Face}

A surgeon's physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane peeling. Robot-assisted eye surgery technology provides ophthalmologists with advanced capabilities such as hand tremor cancellation, hand motion scaling, and safety constraints that enable them to perform these otherwise challenging and high-risk surgeries with high precision and safety. Steady-Hand Eye Robot (SHER) with cooperative control mode can filter out surgeon's hand tremor, yet another important safety feature, that is, minimizing the contact force between the surgical instrument and sclera surface for avoiding tissue damage cannot be met in this control mode. Also, other capabilities, such as hand motion scaling and haptic feedback, require a teleoperation control framework. In this work, for the first time, we implemented a teleoperation control mode incorporated with an adaptive sclera force control algorithm using a PHANTOM Omni haptic device and a force-sensing surgical instrument equipped with Fiber Bragg Grating (FBG) sensors attached to the SHER 2.1 end-effector. This adaptive sclera force control algorithm allows the robot to dynamically minimize the tool-sclera contact force. Moreover, for the first time, we compared the performance of the proposed adaptive teleoperation mode with the cooperative mode by conducting a vessel-following experiment inside an eye phantom under a microscope.

Important challenges in retinal microsurgery in-clude prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could potentially deal with such challenges and improve the surgeon's performance. Motivated by such challenges, this work develops a strategy for autonomous needle navigation in retinal microsurgery aiming to achieve precise manipulation, reduced end-to-end surgery time, and enhanced safety. This is accomplished through real-time geometry estimation and chance-constrained Model Predictive Control (MPC) resulting in high positional accuracy while keeping scleral forces within a safe level. The robotic system is validated using both open-sky and intact (with lens and partial vitreous removal) ex vivo porcine eyes. The experimental results demonstrate that the generation of safe control trajectories is robust to small motions associated with head drift. The mean navigation time and scleral force for MPC navigation experiments are 7.208 s and 11.97 mN, which can be considered efficient and well within acceptable safe limits. The resulting mean errors along lateral directions of the retina are below 0.06 mm, which is below the typical hand tremor amplitude in retinal microsurgery.

Subretinal injection (SI) is an ophthalmic surgical procedure that allows for the direct injection of therapeutic substances into the subretinal space to treat vitreoretinal disorders. Although this treatment has grown in popularity, various factors contribute to its difficulty. These include the retina’s fragile, nonregenerative tissue, as well as hand tremor and poor visual depth perception. In this context, the usage of robotic devices may reduce hand tremors and facilitate gradual and controlled SI. For the robot to successfully move to the target area, it needs to understand the spatial relationship between the attached needle and the tissue. The development of optical coherence tomography (OCT) imaging has resulted in a substantial advancement in visualizing retinal structures at micron resolution. This paper introduces a novel foundation for an OCT-guided robotic steering framework that enables a surgeon to plan and select targets within the OCT volume. At the same time, the robot automatically executes the trajectories necessary to achieve the selected targets. Our contribution consists of a novel combination of existing methods, creating an intraoperative OCT-Robot registration pipeline. We combined straightforward affine transformation computations with robot kinematics and a deep neural network-determined tool-tip location in OCT. We evaluate our framework’s capability in a cadaveric pig eye open-sky procedure and using an aluminum target board. Targeting the subretinal space of the pig eye produced encouraging results with a mean Euclidean error of 23.8μm.

A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In practice, the surgeon relies on depth-estimation skills to localize the tool-tip with respect to the retina in order to perform the tool-navigation task, which can be prone to human error. To alleviate such uncertainty, prior work has introduced ways to assist the surgeon by estimating the tooltip distance to the retina and providing haptic or auditory feedback. However, automating the tool-navigation task itself remains unsolved and largely unexplored. Such a capability, if reliably automated, could serve as a building block to streamline complex procedures and reduce the chance for tissue damage. Towards this end, we propose to automate the tool-navigation task by learning to mimic expert demonstrations of the task. Specifically, a deep network is trained to imitate expert trajectories toward various locations on the retina based on recorded visual servoing to a given goal specified by the user. The proposed autonomous navigation system is evaluated in simulation and in physical experiments using a silicone eye phantom. We show that the network can reliably navigate a needle surgical tool to various desired locations within 137 μm accuracy in physical experiments and 94 μm in simulation on average, and generalizes well to unseen situations such as in the presence of auxiliary surgical tools, variable eye backgrounds, and brightness conditions.

Medication errors are one of the problems to be solved not only in Korea but also across the world. To prevent a medication accident in advance, the comprehensive management of individual medication history is essential. Currently, in the hospital-centric Personal Health Record system, if the patient is prescribed medicines at multiple hospitals, he/she needs to go to the hospital where a medicine was prescribed to get the corresponding needs such as prescription or medical certification to record the prescription information on his/her own. Alternatively, the patient needs to record the prescription information on his/her own. This is very time consuming, inconvenient, and even worse, not reliable method because of input errors. Therefore, in this study, we developed Patient-centric medication history recording system using blockchain, which is directly capturing QR code printed on the envelop by drug store based on prescription. All the information are stored using the hash value of the data in a blockchain and it prevents the tampering of the data. In addition, this system adopted Fast Healthcare Interoperability Resources, which is the international health information exchange standard, as way to improve interoperability.

BACKGROUND: Accurate classification into genotypes is critical in understanding evolution of divergent viruses. Here we report a new approach, MuLDAS, which classifies a query sequence based on the statistical genotype models learned from the known sequences. Thus, MuLDAS utilizes full spectra of well characterized sequences as references, typically of an order of hundreds, in order to estimate the significance of each genotype assignment. RESULTS: MuLDAS starts by aligning the query sequence to the reference multiple sequence alignment and calculating the subsequent distance matrix among the sequences. They are then mapped to a principal coordinate space by multidimensional scaling, and the coordinates of the reference sequences are used as features in developing linear discriminant models that partition the space by genotype. The genotype of the query is then given as the maximum a posteriori estimate. MuLDAS tests the model confidence by leave-one-out cross-validation and also provides some heuristics for the detection of 'outlier' sequences that fall far outside or in-between genotype clusters. We have tested our method by classifying HIV-1 and HCV nucleotide sequences downloaded from NCBI GenBank, achieving the overall concordance rates of 99.3% and 96.6%, respectively, with the benchmark test dataset retrieved from the respective databases of Los Alamos National Laboratory. CONCLUSIONS: The highly accurate genotype assignment coupled with several measures for evaluating the results makes MuLDAS useful in analyzing the sequences of rapidly evolving viruses such as HIV-1 and HCV. A web-based genotype prediction server is available at http://www.muldas.org/MuLDAS/.

BACKGROUND: Protein-protein interactions (PPI) can be classified according to their characteristics into, for example obligate or transient interactions. The identification and characterization of these PPI types may help in the functional annotation of new protein complexes and in the prediction of protein interaction partners by knowledge driven approaches. RESULTS: This work addresses pattern discovery of the interaction sites for four different interaction types to characterize and uses them for the prediction of PPI types employing Association Rule Based Classification (ARBC) which includes association rule generation and posterior classification. We incorporated domain information from protein complexes in SCOP proteins and identified 354 domain-interaction sites. 14 interface properties were calculated from amino acid and secondary structure composition and then used to generate a set of association rules characterizing these domain-interaction sites employing the APRIORI algorithm. Our results regarding the classification of PPI types based on a set of discovered association rules shows that the discriminative ability of association rules can significantly impact on the prediction power of classification models. We also showed that the accuracy of the classification can be improved through the use of structural domain information and also the use of secondary structure content. CONCLUSION: The advantage of our approach is that we can extract biologically significant information from the interpretation of the discovered association rules in terms of understandability and interpretability of rules. A web application based on our method can be found at http://bioinfo.ssu.ac.kr/~shpark/picasso/