Related papers: Anatomical Mesh-Based Virtual Fixtures for Surgica…
This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we propose…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…
A novel method - the Virtual Ring Shear-Slip Mesh Update Method (VR-SSMUM) - for the efficient and accurate modeling of moving boundary or interface problems in the context of the numerical analysis of fluid flow is presented. We focus on…
Three-dimensional (3D) ultrasound imaging can overcome the limitations of conventional two dimensional (2D) ultrasound imaging in structural observation and measurement. However, conducting volumetric ultrasound imaging for large-sized…
We present an optimization procedure for generic polygonal or polyhedral meshes, tailored for the Virtual Element Method (VEM). Once the local quality of the mesh elements is analyzed through a quality indicator specific to the VEM, groups…
Skeleton generation is essential for animating 3D assets, but current deep learning methods remain limited: they cannot handle the growing structural complexity of modern models and offer minimal controllability, creating a major bottleneck…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…
We present the Neural Approximated Virtual Element Method to numerically solve elasticity problems. This hybrid technique combines classical concepts from the Finite Element Method and the Virtual Element Method with recent advances in deep…
Meshing complex engineering domains is a challenging task. Arbitrary polyhedral meshes can provide the much needed flexibility in automated discretization of such domains. The geometric property of the polyhedral meshes such as the…
Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation.…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
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…
3D modeling is becoming a well-developed field of medicine, but its applicability can be limited due to the lack of software allowing for easy utilizations of generated 3D visualizations. By leveraging recent advances in virtual reality, we…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…
Presented are two techniques that are designed to help streamline the discretization of complex vascular geometries within the numerical modeling process. The first method integrates multiple software tools into a single pipeline which can…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…