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Operating rooms (ORs) are cluttered, dynamic, highly occluded environments, where reliable spatial understanding is essential for situational awareness during complex surgical workflows. Achieving spatial understanding for panoptic…
Stress, edge crossings, and crossing angles play an important role in the quality and readability of graph drawings. Most standard graph drawing algorithms optimize one of these criteria which may lead to layouts that are deficient in other…
Socially Assistive Robots navigate highly sensible environments, which place high demands on safety and communication with users. The reasoning behind an SAR's actions must be transparent at any time to earn users' trust and acceptance.…
Extended Reality (XR)-aided teleoperation has shown its potential in improving operating efficiency in mission-critical, rich-information and complex scenarios. The multi-sensory XR devices introduce several new types of traffic with unique…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
Robots in real-world environments continuously engage with multiple users and encounter changes that lead to unexpected conflicts in fulfilling user requests. Recent technical advancements (e.g., large-language models (LLMs), program…
Mixed reality (MR) environments are bound to become ubiquitous as MR technology becomes lighter, higher resolution, more affordable, and overall becomes a seamless extension of our current work and living spaces. For research scientists and…
Robotic-assisted surgery has emerged as a promising approach to improve surgical ergonomics, precision, and workflow efficiency, particularly in complex procedures such as cervical spine surgery. In this study, we evaluate the performance…
Introduction: Systems that exist in the hospital or clinic settings are capable of providing services in the physical environment. These systems (e.g., Picture Archiving and communication systems) provide remote service for patients. To…
We present the design of a mixed reality (MR) telehealth training system that aims to close the gap between in-person and distance training and re-training for medical procedures. Our system uses real-time volumetric capture as a means for…
Precise spatial modeling in the operating room (OR) is foundational to many clinical tasks, supporting intraoperative awareness, hazard avoidance, and surgical decision-making. While existing approaches leverage large-scale multimodal…
Digital sculpting is a popular means to create 3D models but remains a challenging task for many users. This can be alleviated by recent advances in data-driven and procedural modeling, albeit bounded by the underlying data and procedures.…
Human-centered design, a theoretical ideal, is sometimes compromised in industry practice. Technology firms juggle competing priorities, such as adopting new technologies and generating shareholder returns, which may conflict with…
Modern web interfaces are unnecessarily complex to use as they overwhelm users with excessive text and visuals unrelated to their current goals. This problem particularly impacts screen reader users (SRUs), who navigate content sequentially…
Designing a user interface for military situation awareness presents challenges for managing information in a useful and usable manner. We present an integrated set of functions for the presentation of and interaction with information for a…
As computer vision algorithms increase in capability, their applications in clinical systems will become more pervasive. These applications include: diagnostics, such as colonoscopy and bronchoscopy; guiding biopsies, minimally invasive…
Recent advances in haptic hardware and software technology have generated interest in novel, multimodal interfaces based on the sense of touch. Such interfaces have the potential to revolutionize the way we think about human computer…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors,…