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The need for automatic surgical skills assessment is increasing, especially because manual feedback from senior surgeons observing junior surgeons is prone to subjectivity and time consuming. Thus, automating surgical skills evaluation is a…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve real-time latency, classical Finite Element Method (FEM)…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
Automatic pain intensity estimation possesses a significant position in healthcare and medical field. Traditional static methods prefer to extract features from frames separately in a video, which would result in unstable changes and peaks…
Human-robot co-manipulation of soft materials, such as fabrics, composites, and sheets of paper/cardboard, is a challenging operation that presents several relevant industrial applications. Estimating the deformation state of the…
Finite element methods (FEM) are popular approaches for simulation of soft tissues with elastic or viscoelastic behavior. However, their usage in real-time applications, such as in virtual reality surgical training, is limited by…
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform…
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…
Previous soft tissue manipulation studies assumed that the grasping point was known and the target deformation can be achieved. During the operation, the constraints are supposed to be constant, and there is no obstacles around the soft…
Musculoskeletal models have been widely used for detailed biomechanical analysis to characterise various functional impairments given their ability to estimate movement variables (i.e., muscle forces and joint moment) which cannot be…
Applying convolutional neural networks to large images is computationally expensive because the amount of computation scales linearly with the number of image pixels. We present a novel recurrent neural network model that is capable of…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Measurement of environment interaction forces during robotic minimally-invasive surgery would enable haptic feedback to the surgeon, thereby solving one long-standing limitation. Estimating this force from existing sensor data avoids the…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
To date, the simulation of organ deformations for applications like therapy planning or image-guided interventions is calculated by solving the elastodynamics equations. While efficient solvers have been proposed for fast simulations,…
Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further…