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In this paper, we propose a computational framework for 3D volume reconstruction from 2D histological slices using registration algorithms in feature space. To improve the quality of reconstructed 3D volume, first, intensity variations in…

Minimally Invasive Surgery (MIS) techniques have gained rapid popularity among surgeons since they offer significant clinical benefits including reduced recovery time and diminished post-operative adverse effects. However, conventional…

Robot-guided catheter insertion has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate and reliable segmentation of anatomical landmarks in the body.…

Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context…

This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…

Accurately estimating and correcting the motion artifacts are crucial for 3D image reconstruction of the abdominal and in-utero magnetic resonance imaging (MRI). The state-of-art methods are based on slice-to-volume registration (SVR) where…

Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…

Surgical simulation is essential for medical training, enabling practitioners to develop crucial skills in a risk-free environment while improving patient safety and surgical outcomes. However, conventional methods for building simulation…

Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…

Real-time 3D reconstruction of surgical scenes plays a vital role in computer-assisted surgery, holding a promise to enhance surgeons' visibility. Recent advancements in 3D Gaussian Splatting (3DGS) have shown great potential for real-time…

Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…

Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…

We propose a supervised machine learning approach for boosting existing signal and image recovery methods and demonstrate its efficacy on example of image reconstruction in computed tomography. Our technique is based on a local nonlinear…

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,…

Generic 3D reconstruction from a single image is a difficult problem. A lot of data loss occurs in the projection. A domain based approach to reconstruction where we solve a smaller set of problems for a particular use case lead to greater…

Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…

Histological analysis plays a crucial role in understanding tissue structure and pathology. While recent advancements in registration methods have improved 2D histological analysis, they often struggle to preserve critical 3D spatial…

3D reconstruction is a technique used in computer vision which has a wide range of applications in areas like object recognition, city modelling, virtual reality, physical simulations, video games and special effects. Previously, to perform…

Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…

Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…