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Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to…
Automatic lip-reading (ALR) aims to automatically transcribe spoken content from a speaker's silent lip motion captured in video. Current mainstream lip-reading approaches only use a single visual encoder to model input videos of a single…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Video-based assessment and surgical data science can advance surgical training, research, and quality improvement, yet adoption remains limited by heterogeneous recording formats and privacy concerns linked to video sharing. This work…
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…
This paper presents a novel method for monocular patient-to-image intraoperative registration, specifically designed to operate without any external hardware tracking equipment or fiducial point markers. Leveraging a synthetic microscopy…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
Autonomous laparoscopic camera control must maintain a stable and safe surgical view under rapid tool-tissue interactions while remaining interpretable to surgeons. We present a strategy-grounded framework that couples high-level…
Current laparoscopic camera motion automation relies on rule-based approaches or only focuses on surgical tools. Imitation Learning (IL) methods could alleviate these shortcomings, but have so far been applied to oversimplified setups.…
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and robotic-assisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video…
Wireless capsule endoscopy (WCE) enables non-invasive visual assessment of the small bowel, but its clinical utility is constrained by the large volume of frames generated per examination and the difficulty of recognising subtle…
Advances in flexible catheters pave the way for minimally invasive diagnosis and treatment of luminal organs and tubular structures through endoluminal interventions. A key challenge is in establishing non-constraining pressure monitoring…
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…
We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and Spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e.,…
Minimally invasive surgery (MIS) offers significant benefits such as reduced recovery time and minimised patient trauma, but poses challenges in visibility and access, making accurate 3D reconstruction a significant tool in surgical…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…