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In endoscopic procedures, autonomous tracking of abnormal regions and following circumferential cutting markers can significantly reduce the cognitive burden on endoscopists. However, conventional model-based pipelines are fragile for each…
In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of surgeon, so it can take appropriate assisting actions. In…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
The lensless endoscope represents the ultimate limit in miniaturization of imaging tools: an image can be transmitted through a (multi-mode or multi-core) fiber by numerical or physical inversion of the fiber's pre-measured transmission…
This paper explores the possibilities of designing AR interfaces to be used during laparoscopy surgery. It suggests that the laparoscopic video be displayed on AR headsets and that surgeons can consult preoperative image data on that…
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…
Depth estimation plays a crucial role in various tasks within endoscopic surgery, including navigation, surface reconstruction, and augmented reality visualization. Despite the significant achievements of foundation models in vision tasks,…
Deep learning techniques hold promise to develop dense topography reconstruction and pose estimation methods for endoscopic videos. However, currently available datasets do not support effective quantitative benchmarking. In this paper, we…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we…
We present the design and implementation of a side entry laser system designed for an ultra-high vacuum scanning transmission electron microscope. This system uses a versatile probe design enclosed in a vacuum envelope such that parts can…
We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…
Bronchoscopy with transbronchial biopsy is a minimally invasive and effective method for early lung cancer intervention. Robot-assisted bronchoscopy offers improved precision, spatial flexibility, and reduced risk of cross-infection. This…
In this paper we propose a low-cost high-speed imaging line scan system. We replace an expensive industrial line scan camera and illumination with a custom-built set-up of cheap off-the-shelf components, yielding a measurement system with…
Innovations from surgical robotic research rarely translates to live surgery due to the significant difference between the lab and a live environment. Live environments require considerations that are often overlooked during early stages of…
Multimodal nonlinear endoscopes have been a topic of intense research over the past two decades, enabling sub-cellular and label-free imaging in areas not reachable with table-top microscopes. They are sophisticated systems that can be…
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…
Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectures where the surgeon selects from several autonomous…