Related papers: Tracking Everything in Robotic-Assisted Surgery
We present RASO, a foundation model designed to Recognize Any Surgical Object, offering robust open-set recognition capabilities across a broad range of surgical procedures and object classes, in both surgical images and videos. RASO…
Tracking any point (TAP) recently shifted the motion estimation paradigm from focusing on individual salient points with local templates to tracking arbitrary points with global image contexts. However, while research has mostly focused on…
Accurate tissue point tracking in endoscopic videos is critical for robotic-assisted surgical navigation and scene understanding, but remains challenging due to complex deformations, instrument occlusion, and the scarcity of dense…
Grasping is a fundamental task in robot-assisted surgery (RAS), and automating it can reduce surgeon workload while enhancing efficiency, safety, and consistency beyond teleoperated systems. Most prior approaches rely on explicit object…
Video object segmentation (VOS) models such as SAM2 offer promising zero-shot tracking capabilities for surgical videos using minimal user input. Among the available input types, point-based tracking offers an efficient and low-cost…
Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods rely on labor-intensive annotations or rigid assumptions,…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
Surgical video segmentation is crucial for computer-assisted surgery, enabling precise localization and tracking of instruments and tissues. Interactive Video Object Segmentation (iVOS) models such as Segment Anything Model 2 (SAM2) provide…
Accurate tool tracking is essential for the success of computer-assisted intervention. Previous efforts often modeled tool trajectories rigidly, overlooking the dynamic nature of surgical procedures, especially tracking scenarios like…
Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and robotic-assisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video…
Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical…
Object tracking in satellite videos remains a complex endeavor in remote sensing due to the intricate and dynamic nature of satellite imagery. Existing state-of-the-art trackers in computer vision integrate sophisticated architectures,…
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 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…
Surgical scenes convey crucial information about the quality of surgery. Pixel-wise localization of tools and anatomical structures is the first task towards deeper surgical analysis for microscopic or endoscopic surgical views. This is…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising…
Video segmentation is essential for advancing robotics and autonomous driving, particularly in open-world settings where continuous perception and object association across video frames are critical. While the Segment Anything Model (SAM)…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
In the field of computer- and robot-assisted minimally invasive surgery, enormous progress has been made in recent years based on the recognition of surgical instruments in endoscopic images and videos. In particular, the determination of…