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We propose a novel method for large-scale image stitching that is robust against repetitive patterns and featureless regions in the imagery. In such cases, state-of-the-art image stitching methods easily produce image alignment artifacts,…
Surgical video segmentation is a critical task in computer-assisted surgery, essential for enhancing surgical quality and patient outcomes. Recently, the Segment Anything Model 2 (SAM2) framework has demonstrated remarkable advancements in…
Despite advancements in robotic-assisted surgery, automating complex tasks like suturing remain challenging due to the need for adaptability and precision. Learning-based approaches, particularly reinforcement learning (RL) and imitation…
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutaneous approach. The physician incrementally inserts and…
Statement of problem. Cold rolling is widely used for screw thread manufacturing in industry but is less common in implant dentistry, where cutting is the preferred manufacturing method. Purpose. The purpose of this in vitro study was to…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Automated feedback systems have the potential to provide objective skill assessment for training and evaluation in robot-assisted surgery. In this study, we examine methods to achieve real-time prediction of surgical skill level in…
Chinese acupuncture practitioners primarily depend on muscle memory and tactile feedback to insert needles and accurately target acupuncture points, as the current workflow lacks imaging modalities and visual aids. Consequently, new…
Despite significant developments in the design of surgical robots and automated techniques for objective evaluation of surgical skills, there are still challenges in ensuring safety in robot-assisted minimally-invasive surgery (RMIS). This…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…
Every year, thousands of people suffer from skull damage and require personalized implants to fill the cranial cavity. Unfortunately, the waiting time for reconstruction surgery can extend to several weeks or even months, especially in less…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of an endoscopic camera make tool tracking challenging.…
As robotic systems become more popular in household environments, the complexity of required tasks also increases. In this work we focus on a domestic chore deemed dull by a majority of the population, the task of ironing. The presented…
Mitral valve repair is a very difficult operation, often requiring experienced surgeons. The doctor will insert a prosthetic ring to aid in the restoration of heart function. The location of the prosthesis' sutures is critical. Obtaining…
Dual-fisheye lens cameras are becoming popular for 360-degree video capture, especially for User-generated content (UGC), since they are affordable and portable. Images generated by the dual-fisheye cameras have limited overlap and hence…
The method introduced in this paper aims at helping deep learning practitioners faced with an overfit problem. The idea is to replace, in a multi-branch network, the standard summation of parallel branches with a stochastic affine…
Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precision assembly tasks remains a significant challenge. This…