Related papers: Suture Thread Spline Reconstruction from Endoscopi…
We propose a new method for the reconstruction of simplicial complexes (combining points, edges and triangles) from 3D point clouds from Mobile Laser Scanning (MLS). Our main goal is to produce a reconstruction of a scene that is adapted to…
Reconstructing 3D scenes from monocular surgical videos can enhance surgeon's perception and therefore plays a vital role in various computer-assisted surgery tasks. However, achieving scale-consistent reconstruction remains an open…
Real-time tool segmentation from endoscopic videos is an essential part of many computer-assisted robotic surgical systems and of critical importance in robotic surgical data science. We propose two novel deep learning architectures for…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of…
Accurate reconstruction of arbitrary-shaped long slender continuum bodies, such as guidewires, catheters and other soft continuum manipulators, is essential for accurate mechanical simulation. However, existing image-based reconstruction…
In this paper, we consider the challenging task of simultaneously locating and recovering multiple hands from a single 2D image. Previous studies either focus on single hand reconstruction or solve this problem in a multi-stage way.…
We present STITCH: an augmented dexterity pipeline that performs Suture Throws Including Thread Coordination and Handoffs. STITCH iteratively performs needle insertion, thread sweeping, needle extraction, suture cinching, needle handover,…
Registration of diffusion MRI tractography is an essential step for analyzing group similarities and variations in the brain's white matter (WM). Streamline-based registration approaches can leverage the 3D geometric information of fiber…
We present an error-controlled mesh refinement procedure for needle insertion simulation and apply it to the simulation of electrode implantation for deep brain stimulation, including brain shift. Our approach enables to control the error…
Texture reconstruction techniques generally suffer from the errors in keyframe poses. We present a non-iterative method for seamless texture reconstruction of a given 3D scene. Our method finds the best texture alignment in a single shot…
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this…
Reconstructing dynamic, time-varying scenes with computed tomography (4D-CT) is a challenging and ill-posed problem common to industrial and medical settings. Existing 4D-CT reconstructions are designed for sparse sampling schemes that…
We present SF3D, a novel method for rapid and high-quality textured object mesh reconstruction from a single image in just 0.5 seconds. Unlike most existing approaches, SF3D is explicitly trained for mesh generation, incorporating a fast UV…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Image segmentation is a fundamental and challenging problem in computer vision with applications spanning multiple areas, such as medical imaging, remote sensing, and autonomous vehicles. Recently, convolutional neural networks (CNNs) have…
Mitral valve repair is a very difficult operation, often requiring experienced surgeons. The doctor will insert a prosthetic ring to aid in the restoration of heart function. The location of the prosthesis' sutures is critical. Obtaining…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or…
3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…