Letters and Journals:
F. Richter, J. Lu, R. K. Orosco, & M. C. Yip, “Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach,” in IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1653-1670, 2022. [pdf]
F. Richter*, P. V. Gavrilov* and H. M. Lam* and A. Degani and M. C. Yip, “ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility,” in IEEE Transactions on Robotics, vol. 38, no. 2, pp. 797-809, 2022. ( * indicates equal contribution) [pdf]
J. Lu, F. Richter, M. C. Yip, “Robust Keypoint Detection and Pose Estimation of Robot Manipulators with Self-Occlusions via Sim-to-Real Transfer,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 4622-4629, 2022. [pdf]
P. Barba, J. Stramiello, E. K. Funk, F. Richter, M. C. Yip, R. K. Orosco, “Remote Telesurgery in Humans: a Systematic Review,” in Surgical Endoscopy, vol. 36, pp. 2771-2777, 2022. [pdf]
F. Richter, S. Shen, F. Liu, J. Huang, E. K. Funk, R. K. Orosco, M. C. Yip, “Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1383-1390, 2021. [pdf] (Best Paper Finalist at ICRA 2021)
R. K. Orosco, B. Lurie, T. Matsusaki, E. K. Funk, V. Divi, F. C. Holsinger, C. Holsinger, S. Hong, F. Richter, N. Das, & M. C. Yip, “Compensatory motion scaling for time‑delayed robotic surgery,” in Surgical Endoscopy, vol. 35, pp. 2613-2618, 2021. [pdf]
E. K. Funk, F. Richter, W. S. Park, M. C. Yip, R. K. Orosco, “Robotic autonomy in endocrine surgery,” in Annals of Thyroid, vol. 5 2020. [pdf]
Y. Li*, F. Richter*, J. Lu, E. K. Funk, R. K. Orosco, J. Zhu, & M. C. Yip, “SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2294-2301, 2020. ( * indicates equal contribution) [pdf]
Conference Papers:
N. U. Shinde, X. Liang, F. Liu, Y. Zhang, F. Richter, S. Herbert, M. C. Yip, “JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments,” in Robotics: Science and Systems (RSS), 2024 (to appear). [pdf]
N. U. Shinde, Z. Y. Chiu, F. Richter, J. Lim, Y. Zhi, S. Herbert, M. C. Yip, “SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 (to appear). [pdf]
S. Lin, A. J. Miao, A. Alabiad, F. Liu, K. Wang, J. Lu, F. Richter, M. C. Yip, “SuPerPM: A Large Deformation-Robust Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 (to appear). [pdf]
A. J. Lin, J. Lu, F. Richter, B. Ostrander, E. K. Funk, R. K. Orosco, M. C. Yip, “HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management”, in IEEE International Symposium on Medical Robotics (ISMR), 2024 (to appear). [pdf] (Won Best Student Paper Award at ISMR 2024)
C. D'Ambrosia, F. Richter, Z. Y. Chiu, N. Shinde, F. Liu, H. I. Christensen, M. C. Yip, “Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives," in IEEE International Conference on Robotics and Automation (ICRA), 2024 (to appear). [pdf]
J. Lu, F. Richter, S. Lin, M. C. Yip, “Tracking Snake-like Robots in the Wild Using Only a Single Camera,” in IEEE International Conference on Robotics and Automation (ICRA), 2024 (to appear). [pdf]
J. Lu, F. Richter, M. C. Yip, “Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer,” in IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 21296-21306, pp. 21296-21306, 2023. [pdf]
Z. Y. Chiu, F. Richter, M. C. Yip, “Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery,” IEEE International Conference on Robotics and Automation (ICRA), pp. 4761-4767, 2023. [pdf] (Won Best Healthcare and Medical Robotics Paper at ICRA 2023)
J. Lim, C. Joyce, E. Peiros, M. Yeoh, P. V. Gavrilov, S. G. Wickenhiser, D. A. Schreiber, F. Richter, M. C. Yip, “Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media,” IEEE International Conference on Robotics and Automation (ICRA), pp. 7317-7323, 2023. [pdf]
S. Lin, A. J Miao, J. Lu, S. Yu, Z. Y. Chiu, F. Richter, M. C. Yip, “Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Classification, Reconstruction, and Tracking,” IEEE International Conference on Robotics and Automation (ICRA), pp. 4739-4746, 2023. [pdf]
Z. Y. Chiu, A. Z Liao, F. Richter, B. Johnson, M. C. Yip, “Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5286-5292, 2022. [pdf].
F. Richter, R. K. Orosco, M. C. Yip, “Image Based Reconstruction of Liquids from 2D Surface Detections,” in IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 13811-13820 2022. [pdf]
F. Richter, E. K. Funk, W. S. Park, R. K. Orosco, and M. C. Yip, “From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling,” in IEEE International Symposium on Medical Robotics (ISMR) pp. 1-7, 2021. [pdf]
J. Huang, F. Liu, F. Richter, M. C. Yip, "Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations," in IEEE International Conference on Robotics and Automation (ICRA) pp. 12380-12386, 2021. [pdf]
Z. Y. Chiu, F. Richter, E. K. Funk, R. K. Orosco, M. C. Yip, “Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning,” in IEEE International Conference on Robotics and Automation (ICRA) pp. 7737-7743, 2021. [pdf]
F. Liu, Z. Li, Y. Han, J. Lu, F. Richter, M. C. Yip, "Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy," in IEEE International Conference on Robotics and Automation (ICRA) pp. 12328-12334, 2021. [pdf]
J. Lu, A. Jayakumari, F. Richter, Y. Li, & M. C. Yip, “SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction,” IEEE International Conference on Robotics and Automation (ICRA) pp. 4783-4789, 2021. [pdf]
D. A. Schreiber*, F. Richter*, A. Bilan, P. V. Gavrilov, H. L. Man, C. H. Price, K. C. Carpenter, & M. C. Yip, “ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments,” in IEEE International Conference on Robotics and Automation (ICRA), pp. 7029-7034, 2020. ( * indicates equal contribution) [pdf]
M. Verghese, F. Richter, A. Gunn, P. Weissbrod, & M. C. Yip, “Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation,” in The International Symposium of Robotics Research (ISRR) (to appear), 2019. [pdf]
F. Richter, R. K. Orosco, & M. C. Yip, “Motion scaling solutions for improved performance in high delay surgical teleoperation,” in IEEE International Conference on Robotics and Automation (ICRA) pp. 1590-1595, 2019. [pdf]
F. Richter, Y. Zhang, Y. Zhi, R. K. Orosco, & M. C. Yip, “Augmented reality predictive displays to help mitigate the effects of delayed telesurgery,” in IEEE International Conference on Robotics and Automation (ICRA), pp. 444-450, 2019. [pdf]
Preprints and Misc:
F. Richter, “Autonomous Maintenance of Hemostasis in Robotic Surgery,” Doctoral Dissertation, University of California San Diego, 2022. [pdf]
M. C. Yip, F. Richter, D. Stoyanov, F. Vasconcelos, F. Ficuciello, E. V. Poorten, P. Kazanzides, B. Hannaford, G. S. Fischer, workshop on “Cognitive Robotic Surgery,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. [web]
F. Richter, R. K. Orosco, & M. C. Yip, “Open-sourced reinforcement learning environments for surgical robotics,” arXiv preprint arXiv:1903.02090, 2020. [pdf]