Related papers: Temporal Segmentation of Surgical Sub-tasks throug…
Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…
Acquiring spatio-temporal states of an action is the most crucial step for action classification. In this paper, we propose a data level fusion strategy, Motion Fused Frames (MFFs), designed to fuse motion information into static images as…
Computer-assisted surgical (CAS) systems enhance surgical execution and outcomes by providing advanced support to surgeons. These systems often rely on deep learning models trained on complex, challenging-to-annotate data. While synthetic…
Computer-Assisted Intervention (CAI) has the potential to revolutionize modern surgery, with surgical scene understanding serving as a critical component in supporting decision-making, improving procedural efficacy, and ensuring…
Recognizing surgical gestures in real-time is a stepping stone towards automated activity recognition, skill assessment, intra-operative assistance, and eventually surgical automation. The current robotic surgical systems provide us with…
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advances in robot perception have led to significant improvements…
Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we propose MIS-SLAM: a complete real-time large scale dense…
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-static methods. These limitations can be sensitive to unmodelled…
Process modeling and understanding are fundamental for advanced human-computer interfaces and automation systems. Most recent research has focused on activity recognition, but little has been done on sensor-based detection of process…
Brain tumors analysis is important in timely diagnosis and effective treatment to cure patients. Tumor analysis is challenging because of tumor morphology like size, location, texture, and heteromorphic appearance in the medical images. In…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Parameters of the mathematical model describing many practical dynamical systems are prone to vary due to aging or renewal, wear and tear, as well as changes in environmental or service conditions. These variabilities will adversely affect…
Models that balance accuracy against computational costs are advantageous when designing dynamic systems with optimization studies, as several hundred predictive function evaluations might be necessary to identify the optimal solution. The…
Surgical video understanding is a crucial prerequisite for advancing Computer-Assisted Surgery. While vision-language models (VLMs) have recently been applied to the surgical domain, existing surgical vision-language datasets lack in…
The use of Autonomous Surface Vessels (ASVs) is growing rapidly. For safe and efficient surface auto-driving, a reliable perception system is crucial. Such systems allow the vessels to sense their surroundings and make decisions based on…
Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…
Many software engineering tasks, such as testing, and anomaly detection can benefit from the ability to infer a behavioral model of the software.Most existing inference approaches assume access to code to collect execution sequences. In…
To improve the efficiency of surgical trajectory segmentation for robot learning in robot-assisted minimally invasive surgery, this paper presents a fast unsupervised method using video and kinematic data, followed by a promoting procedure…
Accurate surgical phase recognition is essential for analyzing procedural workflows, supporting intraoperative decision-making, and enabling data-driven improvements in surgical education and performance evaluation. In this work, we present…
In Robot-Assisted Minimally Invasive Surgery (RAMIS), a camera assistant is normally required to control the position and zooming ratio of the laparoscope, following the surgeon's instructions. However, moving the laparoscope frequently may…