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For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…
Current day pain assessment methods rely on patient self-report or by an observer like the Intensive Care Unit (ICU) nurses. Patient self-report is subjective to the individual and suffers due to poor recall. Pain assessment by manual…
Minimally invasive surgery mainly consists of a series of sub-tasks, which can be decomposed into basic gestures or contexts. As a prerequisite of autonomic operation, surgical gesture recognition can assist motion planning and…
An Oculomotor Brain-Computer Interface (BCI) records neural activity from regions of the brain involved in planning eye movements and translates this activity into control commands. While previous successful oculomotor BCI studies primarily…
The precise tracking and segmentation of surgical instruments have led to a remarkable enhancement in the efficiency of surgical procedures. However, the challenge lies in achieving accurate segmentation of surgical instruments while…
This paper addresses the challenge of humanoid robot teleoperation in a natural indoor environment via a Brain-Computer Interface (BCI). We leverage deep Convolutional Neural Network (CNN) based image and signal understanding to facilitate…
Conventional therapy approaches limit surgeons' dexterity control due to limited field-of-view. With the advent of robot-assisted surgery, there has been a paradigm shift in medical technology for minimally invasive surgery. However, it is…
Suboptimal interaction with patient data and challenges in mastering 3D anatomy based on ill-posed 2D interventional images are essential concerns in image-guided therapies. Augmented reality (AR) has been introduced in the operating rooms…
Video object segmentation is an emerging technology that is well-suited for real-time surgical video segmentation, offering valuable clinical assistance in the operating room by ensuring consistent frame tracking. However, its adoption is…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
We introduce a gradient-free framework for identifying minimal, sufficient, and decision-preserving explanations in vision models by isolating the smallest subset of representational units whose joint activation preserves predictions.…
Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely on explicit occupancy state inference, leading to numerous…
We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transformation between the robot base and the camera frame is…
Localizing people and recognizing their actions from videos is a challenging task towards high-level video understanding. Existing methods are mostly two-stage based, with one stage for person bounding box generation and the other stage for…
For many real-world applications involving low-power sensor edge devices deep neural networks used for image classification might not be suitable. This is due to their typically large model size and require- ment of operations often…
To enhance on-road environmental perception for autonomous driving, accurate and real-time analytics on high-resolution video frames generated from on-board cameras be-comes crucial. In this paper, we design a lightweight object location…
The teleoperation of robotic hands is limited by the high costs of depth cameras and sensor gloves, commonly used to estimate hand relative joint positions (XYZ). We present a novel, cost-effective approach using three webcams for…
Computer-Aided Design (CAD) is a time-consuming and complex process, requiring precise, long-horizon user interactions with intricate 3D interfaces. While recent advances in AI-driven user interface (UI) agents show promise, most existing…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…