Related papers: TrackOR: Towards Personalized Intelligent Operatin…
In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters.…
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…
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…
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…
Person-tracking robots have many applications, such as in security, elderly care, and socializing robots. Such a task is particularly challenging when the person is moving in a Uniform crowd. Also, despite significant progress of trackers…
The advent of telemedicine represents a transformative development in leveraging technology to extend the reach of specialized medical expertise to remote surgeries, a field where the immediacy of expert guidance is paramount. However, the…
Developing embodied AI for intelligent surgical systems requires safe, controllable environments for continual learning and evaluation. However, safety regulations and operational constraints in operating rooms (ORs) limit agents from…
In this paper, we consider the problem of long-term point tracking, which requires consistent identification of points across multiple frames in a video, despite changes in appearance, lighting, perspective, and occlusions. We target online…
Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and…
Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection.…
Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic…
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…
The challenging task of multi-object tracking (MOT) requires simultaneous reasoning about track initialization, identity, and spatio-temporal trajectories. We formulate this task as a frame-to-frame set prediction problem and introduce…
3D multi-object tracking aims to uniquely and consistently identify all mobile entities through time. Despite the rich spatiotemporal information available in this setting, current 3D tracking methods primarily rely on abstracted…
An accurate detection and tracking of devices such as guiding catheters in live X-ray image acquisitions is an essential prerequisite for endovascular cardiac interventions. This information is leveraged for procedural guidance, e.g.,…
Purpose: Recent advances in Surgical Data Science (SDS) have contributed to an increase in video recordings from hospital environments. While methods such as surgical workflow recognition show potential in increasing the quality of patient…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
In this paper, we consider the problem of long-term point tracking, which requires consistent identification of points across video frames under significant appearance changes, motion, and occlusion. We target the online setting, i.e.…
We proposed a novel test-time optimisation (TTO) approach framed by a NeRF-based architecture for long-term 3D point tracking. Most current methods in point tracking struggle to obtain consistent motion or are limited to 2D motion. TTO…