Related papers: Towards Data-Driven Hierarchical Surgical Skill An…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…
Irregularly sampled time series (ISTS) data has irregular temporal intervals between observations and different sampling rates between sequences. ISTS commonly appears in healthcare, economics, and geoscience. Especially in the medical…
In the field of biomedical imaging, ultrasonography has become increasingly widespread, and an important auxiliary diagnostic tool with unique advantages, such as being non-ionising and often portable. This article reviews the…
Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…
Large Language Models (LLMs) face significant challenges in distributed healthcare, including consolidating specialized domain knowledge across institutions while maintaining privacy, reducing computational overhead, and preventing…
In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…
Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…
Machine learning can provide deep insights into data, allowing machines to make high-quality predictions and having been widely used in real-world applications, such as text mining, visual classification, and recommender systems. However,…
Self-supervised learning (SSL) has achieved remarkable performance in various medical imaging tasks by dint of priors from massive unlabelled data. However, regarding a specific downstream task, there is still a lack of an instruction book…
Over the past decade, machine learning has demonstrated impressive results, often surpassing human capabilities in sensing tasks relevant to autonomous flight. Unlike traditional aerospace software, the parameters of machine learning models…
Automated video-based assessment of surgical skills is a promising task in assisting young surgical trainees, especially in poor-resource areas. Existing works often resort to a CNN-LSTM joint framework that models long-term relationships…
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…
Many classification problems consider classes that form a hierarchy. Classifiers that are aware of this hierarchy may be able to make confident predictions at a coarse level despite being uncertain at the fine-grained level. While it is…
Hospital call centers serve as the primary contact point for patients within a hospital system. They also generate substantial volumes of staff messages as navigators process patient requests and communicate with the hospital offices…
Hazard and Operability Analysis (HAZOP) is a powerful safety analysis technique with a long history in industrial process control domain. With the increasing use of Machine Learning (ML) components in cyber physical systems--so called…
Purpose: A profound education of novice surgeons is crucial to ensure that surgical interventions are effective and safe. One important aspect is the teaching of technical skills for minimally invasive or robot-assisted procedures. This…
Development and homeostasis in multicellular systems both require exquisite control over spatial molecular pattern formation and maintenance. Advances in spatially-resolved and high-throughput molecular imaging methods such as multiplexed…
Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…
This paper presents a survey of the state-of-the-art deformable models studied in the literature concerning soft tissue deformable modeling for interactive surgical simulation. It first introduces the challenges of surgical simulation,…