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Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…
This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach follows the work of Erdmann and Mason's sensorless…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research groups; (b) and they should produce reproducible findings. In…
STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system for application to intraluminal surgical procedures. Preclinical testing of STRAS has recently permitted to demonstrate major advantages of the system…
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform…
This paper presents a hetero-associative sequential memory system for mobile manipulators that learns compact, neuromorphic bindings between robot joint states and tactile observations to produce step-wise action decisions with low compute…
Accurate pose estimation of surgical tools in Robot-assisted Minimally Invasive Surgery (RMIS) is essential for surgical navigation and robot control. While traditional marker-based methods offer accuracy, they face challenges with…
Hyperspectral stimulated Raman scattering (SRS) microscopy is a label-free technique for biomedical and mineralogical imaging which can suffer from low signal to noise ratios. Here we demonstrate the use of an unsupervised deep learning…
Hand pose estimation is more challenging than body pose estimation due to severe articulation, self-occlusion and high dexterity of the hand. Current approaches often rely on a popular body pose algorithm, such as the Convolutional Pose…
Motivated by recent innovations in biologically-inspired neuromorphic hardware, this article presents a novel unsupervised machine learning algorithm named Hyperseed that draws on the principles of Vector Symbolic Architectures (VSA) for…
The focus of this paper is dynamic gesture recognition in the context of the interaction between humans and machines. We propose a model consisting of two sub-networks, a transformer and an ordered-neuron long-short-term-memory (ON-LSTM)…
Hand gestures recognition (HGR) is one of the main areas of research for the engineers, scientists and bioinformatics. HGR is the natural way of Human Machine interaction and today many researchers in the academia and industry are working…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
Surgical phase recognition is a fundamental task in computer-assisted surgery systems. Most existing works are under the supervision of expensive and time-consuming full annotations, which require the surgeons to repeat watching videos to…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…