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Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…
Objective: We aim to investigate long-term robotic surgical skill acquisition among surgical residents and the effects of training intervals and fatigue on performance. Methods: For six months, surgical residents participated in three…
Surgical action triplet recognition provides a better understanding of the surgical scene. This task is of high relevance as it provides the surgeon with context-aware support and safety. The current go-to strategy for improving performance…
Purpose: Previous research has shown that obtaining non-expert crowd evaluations of surgical performances concords with the gold standard of expert surgeon review, and that faster playback speed increases ratings for videos of…
A key challenge for robotic systems is to figure out the behavior of another agent. The capability to draw correct inferences is crucial to derive human behavior from examples. Processing correct inferences is especially challenging when…
Proficiency in microanastomosis is a critical surgical skill in neurosurgery, where the ability to precisely manipulate fine instruments is crucial to successful outcomes. These procedures require sustained attention, coordinated hand…
Effective urban warfare training requires situational awareness and muscle memory, developed through repeated practice in realistic yet controlled environments. A key drill, Enter and Clear the Room (ECR), demands threat assessment,…
In modern society, people should not be identified based on their disability, rather, it is environments that can disable people with impairments. Improvements to automatic Sign Language Recognition (SLR) will lead to more enabling…
Advances in surgical video analysis are transforming operating rooms into intelligent, data-driven environments. Computer-assisted systems support full surgical workflow, from preoperative planning to intraoperative guidance and…
Our previous work classified a taxonomy of suturing gestures during a vesicourethral anastomosis of robotic radical prostatectomy in association with tissue tears and patient outcomes. Herein, we train deep-learning based computer vision…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
Trust is a key factor in ensuring acceptable human-robot interaction, especially in settings where robots may be assisting with critical activities of daily living. When practically deployed, robots are bound to make occasional mistakes,…
Surgeons exhibit distinct operating styles shaped by training, experience, and motor behavior-yet most surgical AI systems overlook this personalization signal. We propose a novel agentic modeling approach for surgeon-specific behavior…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
Assessing learner competency in clinical simulation requires expert observation that is time-intensive, difficult to scale, and subject to inter-rater variability. Vision-language models have emerged as a promising tool for understanding…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…
Automated tracking of surgical tool keypoints in robotic surgery videos is an essential task for various downstream use cases such as skill assessment, expertise assessment, and the delineation of safety zones. In recent years, the…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…