Welcome to the Medical Automation, Robotics and General Intelligence Lab (MARGIN Lab) at Arizona State University (ASU). Our mission is to advance intelligent healthcare technologies through cutting-edge research in surgical robotics, AI-driven perception, and medical device innovation.
We develop machine learning and robotic systems to support robotic-assisted and autonomous surgical tasks, including surgical scene understanding, identification and tracking of instruments, robots, tissues, and organs, and robotic manipulation, while also exploring smart medical tools for clinical environments. At MARGIN Lab, we strive to build intelligent systems that can collaborate seamlessly with clinicians and improve the safety, precision, reliability, and accessibility of healthcare.
We are always looking for passionate students students to join the team (more info) !
Mar/12/2026 – Jessica Burgner-Kahrs and Lueder Alexander Kahrs visited MARGIN Lab.
Mar/11/2026 – Paper TrajPred: Trajectory-Conditioned Joint Embedding Prediction for Surgical Instrument-Tissue Interaction Recognition in Vision-Language Models is available online.
Jan/31/2026 – Paper TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Dynamic Objects is accepted by ICRA 2026.
Jan/30/2026 – Paper PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation is accepted by RoboSoft 2026.
Nov/10/2025 – Paper SurgXBench: Explainable Vision-Language Model Benchmark for Surgery is accepted by WACV 2026.
Aug/21/2025 – Excited to have PhD student Haokai Xu join the lab!
May/19/2025 – We organize the Workshop on the Evolving Landscape of Surgical Robotics (ELSR) at ICRA 2025, Atlanta, USA.
Apr/2025 – Excited to have PhD student Jiajun Cheng join the lab!
Feb/2025 – Excited to have undergraduate student Leonardo Dayal join the lab!
Contact: Shan Lin
Lab Address:
Goldwater Center
650 E. Tyler Mall
Tempe, AZ 85287-5706
© 2025 MARGIN Lab. All rights reserved.
