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Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…
Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…
Videos are prominent learning materials to prepare surgical trainees before they enter the operating room (OR). In this work, we explore techniques to enrich the video-based surgery learning experience. We propose Surgment, a system that…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Human-robot collaboration (HRC) in the construction industry depends on precise and prompt recognition of human motion intentions and actions by robots to maximize safety and workflow efficiency. There is a research gap in comparing data…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Surgical skill directly affects surgical procedure outcomes; thus, effective training is needed to ensure satisfactory results. Many objective assessment metrics have been developed and some are widely used in surgical training simulators.…
Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a…
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…
Objective: Surgical activity recognition is a fundamental step in computer-assisted interventions. This paper reviews the state-of-the-art in methods for automatic recognition of fine-grained gestures in robotic surgery focusing on recent…
Real-time surgical phase recognition is a fundamental task in modern operating rooms. Previous works tackle this task relying on architectures arranged in spatio-temporal order, however, the supportive benefits of intermediate spatial…
Measurement of environment interaction forces during robotic minimally-invasive surgery would enable haptic feedback to the surgeon, thereby solving one long-standing limitation. Estimating this force from existing sensor data avoids the…
Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…
Minimally invasive surgery (MIS) offers several advantages including minimum tissue injury and blood loss, and quick recovery time, however, it imposes some limitations on surgeons ability. Among others such as lack of tactile or haptic…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
The development of effective training and evaluation strategies is critical. Conventional methods for assessing surgical proficiency typically rely on expert supervision, either through onsite observation or retrospective analysis of…
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…