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Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the automation of suturing. As visual tracking of a thin reflective needle is extremely challenging, prior work has modified the needle with nonreflective contrasting paint. As a step towards automation of a suturing subtask without modifying the needle, we propose HOUSTON: Handoff of Unmodified, Surgical, Tool-Obstructed Needles, a problem and algorithm that uses a learned active sensing policy with a stereo camera to localize and align the needle into a visible and accessible pose for the other arm. To compensate for robot positioning and needle perception errors, the algorithm then executes a high-precision grasping motion that uses multiple cameras. In physical experiments using the da Vinci Research Kit (dVRK), HOUSTON successfully passes unmodified surgical needles with a success rate of 96.7% and is able to perform handover sequentially between the arms 32.4 times on average before failure. On needles unseen in training, HOUSTON achieves a success rate of 75 − 92.9%. To our knowledge, this work is the first to study handover of unmodified surgical needles. See https://tinyurl.com/houston-surgery for additional materials.

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We present photometric properties of six small (radii < 100 km) satellites of Uranus based on 32 H -(1.49-1.78 µm) band images taken on August 29, 2015 from the Keck II Telescope on Maunakea, Hawaii with the near-infrared camera NIRC2 coupled to the adaptive optics system. The sub-observer latitude of our observations was 31 • , i.e., we view much of the satellites' north poles, in contrast to the 1986 Voyager measurements. We derive reflectivities based on mean-stacking measurements of these six minor moons of Uranus. We find that the small satellites are significantly brighter than in previous observations, which we attribute to albedo variations between hemispheres. We also search for Mab, a small satellite with an unknown surface composition, orbiting between Puck and Miranda. Despite the significantly improved signal-to-noise ratio we achieved, we could not detect Mab. We suggest that Mab is more similar to Miranda, an icy body, than to the inner rocky moons. Assuming Mab is spherical with a radius of 6 km, as derived from Hubble Space Telescope (HST) observations if its reflectivity is ∼0.46, we derive a 3σ upper limit to its reflectivity [I/F ] of 0.14 at 1.6 µm.

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