Author

Minsung Kim

2 papers indexed here

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Preprint Sep 2026

Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation

High-performance surgical master consoles offer intuitive articulated manipulation but are expensive and difficult to reproduce, while accessible commercial haptic devices lack built-in interfaces for surgical wrist articulation and continuous grasp. We present a laparoscopic master in which general-purpose robot manip...

Minsung Kim, Seonho Shim, Dong-Ho Yee et al. · 0 citations

Preprint Sep 2026

Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation

Closed-loop evaluation of surgical robots requires tissue that deforms, can be grasped and lifted, and reproduces the anatomy in which the robot will operate. We present a simulator in which this tissue is reconstructed from a fixed-view RGB-D recording of the surgical field, composited to remove the instruments, close...

Juahn Oh, Dong-Ho Yee, Jinseok Lee et al. · 0 citations