Related papers: A Robotic 3D Perception System for Operating Room …
Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…
Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…
Automatic recognition of surgical activities in the operating room (OR) is a key technology for creating next generation intelligent surgical devices and workflow monitoring/support systems. Such systems can potentially enhance efficiency…
Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic…
Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
Operating rooms (ORs) are cluttered, dynamic, highly occluded environments, where reliable spatial understanding is essential for situational awareness during complex surgical workflows. Achieving spatial understanding for panoptic…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue…
Purpose: Robot-assisted minimally invasive surgery relies on endoscopic video as the sole intraoperative visual feedback. The DaVinci Xi system overlays a graphical user interface (UI) that indicates the state of each robotic arm, including…