Related papers: STITCH: Augmented Dexterity for Suture Throws Incl…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
We present SimShear, a sim-to-real pipeline for tactile control that enables the use of shear information without explicitly modeling shear dynamics in simulation. Shear, arising from lateral movements across contact surfaces, is critical…
In surgical training for medical students, proficiency development relies on expert-led skill assessment, which is costly, time-limited, difficult to scale, and its expertise remains confined to institutions with available specialists.…
Ultrasound (US) image stitching can expand the field-of-view (FOV) by combining multiple US images from varied probe positions. However, registering US images with only partially overlapping anatomical contents is a challenging task. In…
We propose StitchNet, a novel neural network creation paradigm that stitches together fragments (one or more consecutive network layers) from multiple pre-trained neural networks. StitchNet allows the creation of high-performing neural…
Fitting a body to a 3D clothed human point cloud is a common yet challenging task. Traditional optimization-based approaches use multi-stage pipelines that are sensitive to pose initialization, while recent learning-based methods often…
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In…
In medicine, needles are frequently used to deliver treatments to subsurface targets or to take tissue samples from the inside of an organ. Current clinical practice is to insert needles under image guidance or haptic feedback, although…
OriStitch is a computational fabrication workflow to turn existing flat fabrics into self-folding 3D structures. Users turn fabrics into self-folding sheets by machine embroidering functional threads in specific patterns on fabrics, and…
Current image stitching methods often produce noticeable seams in challenging scenarios such as uneven hue and large parallax. To tackle this problem, we propose the Reference-Driven Inpainting Stitcher (RDIStitcher), which reformulates the…
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…
Existing vision-language models often suffer from spatial hallucinations, i.e., generating incorrect descriptions about the relative positions of objects in an image. We argue that this problem mainly stems from the asymmetric properties…
Surround-view perception has garnered significant attention for its ability to enhance the perception capabilities of autonomous driving vehicles through the exchange of information with surrounding cameras. However, existing surround-view…
Despite the long history of image and video stitching research, existing academic and commercial solutions still produce strong artifacts. In this work, we propose a wide-baseline video stitching algorithm for linear camera arrays that is…
We describe a system that lets a designer interactively draw patterns of strokes in the picture plane, then guide the synthesis of similar patterns over new picture regions. Synthesis is based on an initial user-assisted analysis phase in…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation.…
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…
Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with…
Diffusion models have demonstrated a remarkable ability in Text-to-Image (T2I) generation applications. Despite the advanced generation output, they suffer from heavy computation overhead, especially for large models that contain tens of…