Related papers: Autonomous Tissue Scanning under Free-Form Motion …
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
This work demonstrates the benefits of using tool-tissue interaction forces in the design of autonomous systems in robot-assisted surgery (RAS). Autonomous systems in surgery must manipulate tissues of different stiffness levels and hence…
This paper tackles instrument tracking and 3D visualization challenges in minimally invasive surgery (MIS), crucial for computer-assisted interventions. Conventional and robot-assisted MIS encounter issues with limited 2D camera projections…
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…
Tissue deformation poses a key challenge for accurate surgical scene reconstruction. Despite yielding high reconstruction quality, existing methods suffer from slow rendering speeds and long training times, limiting their intraoperative…
Surgical image segmentation is essential for robot-assisted surgery and intraoperative guidance. However, existing methods are constrained to predefined categories, produce one-shot predictions without adaptive refinement, and lack…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Robotic manipulation of deformable objects remains a challenging task. One such task is to iron a piece of cloth autonomously. Given a roughly flattened cloth, the goal is to have an ironing plan that can iteratively apply a regular iron to…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Despite the immense technology advancement in the surgeries the criteria of assessing the surgical skills still remains based on subjective standards. With the advent of robotic-assisted surgery, new opportunities for objective and…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
Automatic estimation of skinning transformations is a popular way to deform a single reference shape into a new pose by providing a small number of control parameters. We generalize this approach by efficiently enabling the use of multiple…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
We present a new approach for vision-based force estimation in Minimally Invasive Robotic Surgery based on frequency domain basis of motion of organs derived directly from video. Using internal movements generated by natural processes like…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…