Related papers: Dynamic Interactive Relation Capturing via Scene G…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
From a computer science viewpoint, a surgical domain model needs to be a conceptual one incorporating both behavior and data. It should therefore model actors, devices, tools, their complex interactions and data flow. To capture and model…
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Robot-assisted minimally invasive surgery is improving surgeon performance and patient outcomes. This innovation is also turning what has been a subjective practice into motion sequences that can be precisely measured. A growing number of…
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric…
Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition,…
Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the embodied agent interaction with the indoor environment. It is…
This paper introduces the ``SurgT: Surgical Tracking" challenge which was organised in conjunction with MICCAI 2022. There were two purposes for the creation of this challenge: (1) the establishment of the first standardised benchmark for…
The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
In dialog system, dialog act recognition and sentiment classification are two correlative tasks to capture speakers intentions, where dialog act and sentiment can indicate the explicit and the implicit intentions separately. Most of the…
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of…
Robot-assisted surgery (RAS) has become a critical paradigm in modern surgery, promoting patient recovery and reducing the burden on surgeons through minimally invasive approaches. To fully realize its potential, however, a precise…
Scene graphs are nodes and edges consisting of objects and object-object relationships, respectively. Scene graph generation (SGG) aims to identify the objects and their relationships. We propose a bidirectional GRU (BiGRU) transformer…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…
Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action that can help robots to improve their performance. The main…
The analysis of electrophysiological data is crucial for certain surgical procedures such as deep brain stimulation, which has been adopted for the treatment of a variety of neurological disorders. During the procedure, auditory analysis of…
Many complex processes can be viewed as dynamical systems of interacting agents. In many cases, only the state sequences of individual agents are observed, while the interacting relations and the dynamical rules are unknown. The neural…