Related papers: Learning to Localize, Grasp, and Hand Over Unmodif…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…
Despite significant developments in the design of surgical robots and automated techniques for objective evaluation of surgical skills, there are still challenges in ensuring safety in robot-assisted minimally-invasive surgery (RMIS). This…
Kinematic trajectories recorded from surgical robots contain information about surgical gestures and potentially encode cues about surgeon's skill levels. Automatic segmentation of these trajectories into meaningful action units could help…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Traditional image stitching approaches tend to leverage increasingly complex geometric features (point, line, edge, etc.) for better performance. However, these hand-crafted features are only suitable for specific natural scenes with…
Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…
Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical and virtual environments, it is imperative to develop…
Surgical tool segmentation in endoscopic images is an important problem: it is a crucial step towards full instrument pose estimation and it is used for integration of pre- and intra-operative images into the endoscopic view. While many…
Radioguided surgery, such as sentinel lymph node biopsy, relies on the precise localization of radioactive targets by non-imaging gamma/beta detectors. Manual radioactive target detection based on visual display or audible indication of…
Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
In this paper, we present an efficient method to incrementally learn to classify static hand gestures. This method allows users to teach a robot to recognize new symbols in an incremental manner. Contrary to other works which use special…
Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…
In computational pathology, deep learning (DL) models for tasks such as segmentation or tissue classification are known to suffer from domain shifts due to different staining techniques. Stain adaptation aims to reduce the generalization…