Related papers: Real-time Teaching Cues for Automated Surgical Coa…
3D modeling is becoming a well-developed field of medicine, but its applicability can be limited due to the lack of software allowing for easy utilizations of generated 3D visualizations. By leveraging recent advances in virtual reality, we…
In this paper we address feedback strategies for an autonomous virtual trainer. First, a pilot study was conducted to identify and specify feedback strategies for assisting participants in performing a given task. The task involved sorting…
Kinematic trajectories recorded from surgical robots contain information about surgical gestures and potentially encode cues about surgeon's skill levels. Automatic segmentation of these trajectories into meaningful action units could help…
Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Simulator training for image guided surgical interventions would benefit from intelligent systems that detect the evolution of task performance, and take control of individual speed precision strategies by providing effective automatic…
Executive coaching has been drawing more and more attention for developing corporate managers. While conversing with managers, coach practitioners are also required to understand internal states of coachees through objective observations.…
Recent self-supervised learning approaches focus on using a few thousand data points to learn policies for high-level, low-dimensional action spaces. However, scaling this framework for high-dimensional control require either scaling up the…
Videos are prominent learning materials to prepare surgical trainees before they enter the operating room (OR). In this work, we explore techniques to enrich the video-based surgery learning experience. We propose Surgment, a system that…
We present an AI based approach to automate the End-to-end Assessment of Suturing Expertise (EASE), a suturing skills assessment tool that comprehensively defines criteria around relevant sub-skills.1 While EASE provides granular skills…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness. Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras…
We present a method for fast training of vision based control policies on real robots. The key idea behind our method is to perform multi-task Reinforcement Learning with auxiliary tasks that differ not only in the reward to be optimized…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Virtual reality (VR) and interactive 3D visualization systems have enhanced educational experiences and environments, particularly in complicated subjects such as anatomy education. VR-based systems surpass the potential limitations of…
Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…
Purpose: The objective of this investigation is to provide a comprehensive analysis of state-of-the-art methods for video-based assessment of surgical skill in the operating room. Methods: Using a data set of 99 videos of capsulorhexis, a…
Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…
Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…
We introduce a Virtual Reality (VR) one-on-one tutoring system to support anatomy education. A student uses a fully immersive VR headset to explore the anatomy of the base of the human skull. A teacher guides the student by using the…