Related papers: Real-time Teaching Cues for Automated Surgical Coa…
Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of…
Objectives Computer vision (CV) is a field of artificial intelligence that enables machines to interpret and understand images and videos. CV has the potential to be of assistance in the operating room (OR) to track surgical instruments. We…
Purpose: This research aims to facilitate the use of state-of-the-art computer vision algorithms for the automated training of surgeons and the analysis of surgical footage. By estimating 2D hand poses, we model the movement of the…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…
Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…
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…
This research proposes and evaluates scoring and assessment methods for Virtual Reality (VR) training simulators. VR simulators capture detailed n-dimensional human motion data which is useful for performance analysis. Custom made medical…
Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…
Timely and effective feedback within surgical training plays a critical role in developing the skills required to perform safe and efficient surgery. Feedback from expert surgeons, while especially valuable in this regard, is challenging to…
Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…
This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such…
Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems…
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…
Directional cues are crucial for environmental interaction. Conventional methods rely on symbolic visual or auditory reminders that require semantic interpretation, a process that proves challenging in demanding dual-tasking scenarios. We…
COVID-19 has driven most schools to remote learning through online meeting software such as Zoom and Google Meet. Although this trend helps students continue learning without in-person classes, it removes a vital tool that teachers use to…
In this paper, we present a complete and efficient implementation of a knowledge-sharing augmented kinesthetic teaching approach for efficient task execution in robotics. Our augmented kinesthetic teaching method integrates intuitive human…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Gesture is an important mean of non-verbal communication, with visual modality allows human to convey information during interaction, facilitating peoples and human-machine interactions. However, it is considered difficult to automatically…
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system…