Related papers: Real-time image-based instrument classification fo…
Computer-aided pathology detection algorithms for video-based imaging modalities must accurately interpret complex spatiotemporal information by integrating findings across multiple frames. Current state-of-the-art methods operate by…
Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…
Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…
We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…
In surgical procedures, correct instrument counting is essential. Instance segmentation is a location method that locates not only an object's bounding box but also each pixel's specific details. However, obtaining mask-level annotations is…
Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…
Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and robotic-assisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video…
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…
Phase recognition plays an essential role for surgical workflow analysis in computer assisted intervention. Transformer, originally proposed for sequential data modeling in natural language processing, has been successfully applied to…
Open, or non-laparoscopic surgery, represents the vast majority of all operating room procedures, but few tools exist to objectively evaluate these techniques at scale. Current efforts involve human expert-based visual assessment. We…
Aerial robots hold great potential for aiding Search and Rescue (SAR) efforts over large areas. Traditional approaches typically searches an area exhaustively, thereby ignoring that the density of victims varies based on predictable…
Image-based tracking of laparoscopic instruments plays a fundamental role in computer and robotic-assisted surgeries by aiding surgeons and increasing patient safety. Computer vision contests, such as the Robust Medical Instrument…
Automated tracking of surgical tool keypoints in robotic surgery videos is an essential task for various downstream use cases such as skill assessment, expertise assessment, and the delineation of safety zones. In recent years, the…
Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition,…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance while the semantic segmentation of the robotic instrument…
Real-time instrument tracking is a crucial requirement for various computer-assisted interventions. In order to overcome problems such as specular reflections and motion blur, we propose a novel method that takes advantage of the…
Total knee arthroplasty (TKA) is a commonly performed surgical procedure to mitigate knee pain and improve functions for people with knee arthritis. The procedure is complicated due to the different surgical tools used in the stages of…
During endovascular interventions, physicians have to perform accurate and immediate operations based on the available real-time information, such as the shape and position of guidewires observed on the fluoroscopic images, haptic…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…