Related papers: XiCAD: Camera Activation Detection in the Da Vinci…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learning-based surgical perception models. However, operative…
We revisit the study of a wrist-mounted camera system (referred to as HandCam) for recognizing activities of hands. HandCam has two unique properties as compared to egocentric systems (referred to as HeadCam): (1) it avoids the need to…
Automated endoscopy video analysis is a challenging task in medical computer vision, with the primary objective of assisting surgeons during procedures. The difficulty arises from the complexity of surgical scenes and the lack of a…
Machine vision systems using convolutional neural networks (CNNs) for robotic applications are increasingly being developed. Conventional vision CNNs are driven by camera frames at constant sample rate, thus achieving a fixed latency and…
UI automation is a useful technique for UI testing, bug reproduction, and robotic process automation. Recording user actions with an application assists rapid development of UI automation scripts, but existing recording techniques are…
Surgical phase segmentation is central to computer-assisted surgery, yet robust models remain difficult to develop when labeled surgical videos are scarce. We study data-efficient phase segmentation for manual small-incision cataract…
Mobile service robots are proving to be increasingly effective in a range of applications, such as healthcare, monitoring Activities of Daily Living (ADL), and facilitating Ambient Assisted Living (AAL). These robots heavily rely on Human…
Capturing fine-grained hand-object interactions is challenging due to severe self-occlusion from closely spaced fingers and the subtlety of in-hand manipulation motions. Existing optical motion capture systems rely on expensive camera…
Endotracheal intubation (ETI) is an emergency procedure performed in civilian and combat casualty care settings to establish an airway. Objective and automated assessment of ETI skills is essential for the training and certification of…
The increasing need for automated visual monitoring and control for applications such as smart camera surveillance, traffic monitoring, and intelligent environments, necessitates the improvement of methods for visual active monitoring.…
We introduce a speech-guided embodied agent framework for video-guided skull base surgery that dynamically executes perception and image-guidance tasks in response to surgeon queries. The proposed system integrates natural language…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
With introduction of new technologies in the operating room like the da Vinci Surgical System, training surgeons to use them effectively and efficiently is crucial in the delivery of better patient care. Coaching by an expert surgeon is…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
Visual Inertial Odometry (VIO) is a widely used computer vision method that determines an agent's movement through a camera and an IMU sensor. This paper presents an efficient and accurate VIO pipeline optimized for applications on micro-…
This data article presents a dataset of 11,884 labeled images documenting a simulated blood extraction (phlebotomy) procedure performed on a training arm. Images were extracted from high-definition videos recorded under controlled…
Understanding human actions is critical for advancing behavior analysis in human-robot interaction. Particularly in tasks that demand quick and proactive feedback, robots must recognize human actions as early as possible from incomplete…
Data scarcity has long been an issue in the robot learning community. Particularly, in safety-critical domains like surgical applications, obtaining high-quality data can be especially difficult. It poses challenges to researchers seeking…
Most benchmarks for studying surgical interventions focus on a specific challenge instead of leveraging the intrinsic complementarity among different tasks. In this work, we present a new experimental framework towards holistic surgical…