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Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging…
Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
Automatically recognizing surgical gestures is a crucial step towards a thorough understanding of surgical skill. Possible areas of application include automatic skill assessment, intra-operative monitoring of critical surgical steps, and…
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…
Accurately simulating soft tissue deformation is crucial for surgical training, pre-operative planning, and real-time haptic feedback systems. While physics-based models such as the finite element method (FEM) provide high-fidelity results,…
Humans can infer approximate interaction force between objects from only vision information because we already have learned it through experiences. Based on this idea, we propose a recurrent convolutional neural network-based method using…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
With the advent of robot-assisted surgery, the role of data-driven approaches to integrate statistics and machine learning is growing rapidly with prominent interests in objective surgical skill assessment. However, most existing work…
Accurate simulation of brain deformation is a key component for developing realistic, interactive neurosurgical simulators, as complex nonlinear deformations must be captured to ensure realistic tool-tissue interactions. However,…
Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their nonlinear and compliant nature makes both physical modeling…
Soft tissue simulation in virtual environments is becoming increasingly important for medical applications. However, the high deformability of soft tissue poses significant challenges. Existing methods rely on segmentation, meshing and…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
We present a new approach for vision-based force estimation in Minimally Invasive Robotic Surgery based on frequency domain basis of motion of organs derived directly from video. Using internal movements generated by natural processes like…
Purpose: Manual feedback from senior surgeons observing less experienced trainees is a laborious task that is very expensive, time-consuming and prone to subjectivity. With the number of surgical procedures increasing annually, there is an…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Five billion people in the world lack access to quality surgical care. Surgeon skill varies dramatically, and many surgical patients suffer complications and avoidable harm. Improving surgical training and feedback would help to reduce the…
Estimating the forces acting between instruments and tissue is a challenging problem for robot-assisted minimally-invasive surgery. Recently, numerous vision-based methods have been proposed to replace electro-mechanical approaches.…
Purpose: In surgical navigation, pre-operative organ models are presented to surgeons during the intervention to help them in efficiently finding their target. In the case of soft tissue, these models need to be deformed and adapted to the…