Related papers: An adaptive and fully automatic method for estimat…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the…
Some endoscopic surgeries require a surgeon to hold the endoscope with one hand and the surgical instruments with the other hand to perform the actual surgery with correct vision. Recent technical advances in deep learning as well as in…
We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
Estimating the 3D hand articulation from a single color image is an important problem with applications in Augmented Reality (AR), Virtual Reality (VR), Human-Computer Interaction (HCI), and robotics. Apart from the absence of depth…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
This work presents a framework for monocular 6D pose estimation of surgical instruments in open surgery, addressing challenges such as object articulations, specularity, occlusions, and synthetic-to-real domain adaptation. The proposed…
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce certain amount of nonlinear distortion, where the radial distortion is the most severe part.…
BACKGROUND AND OBJECTIVE: Patient positioning is a crucial step in radiation therapy, for which non-invasive methods have been developed based on surface reconstruction using optical 3D imaging. However, most solutions need expensive…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…
Various optical methods for measuring positions of micro-objects in 3D have been reported in the literature. Nevertheless, majority of them are not suitable for real-time operation, which is needed, for example, for feedback position…
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…
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…