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We propose a novel multi-modal and multi-task architecture for simultaneous low level gesture and surgical task classification in Robot Assisted Surgery (RAS) videos.Our end-to-end architecture is based on the principles of a long…
Distal myopathy represents a genetically heterogeneous group of skeletal muscle disorders with broad clinical manifestations, posing diagnostic challenges in radiology. To address this, we propose a novel multimodal attention-aware fusion…
Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…
Segmentation of surgical instruments is an important problem in robot-assisted surgery: it is a crucial step towards full instrument pose estimation and is directly used for masking of augmented reality overlays during surgical procedures.…
Robotic ultrasound (US) systems have shown great potential to make US examinations easier and more accurate. Recently, various machine learning techniques have been proposed to realize automatic US image interpretation for robotic US…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
Accurate simulation of brain deformation is a key component for developing realistic, interactive neurosurgical simulators, as complex nonlinear deformations must be captured to ensure realistic tool-tissue interactions. However,…
Purpose: Segmentation of surgical instruments in endoscopic videos is essential for automated surgical scene understanding and process modeling. However, relying on fully supervised deep learning for this task is challenging because manual…
Object-centric slot attention is an emerging paradigm for unsupervised learning of structured, interpretable object-centric representations (slots). This enables effective reasoning about objects and events at a low computational cost and…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
Oral cancer is frequently diagnosed at later stages due to its similarity to other lesions. Existing research on computer aided diagnosis has made progress using deep learning; however, most approaches remain limited by small, imbalanced…
Machine learning-based techniques open up many opportunities and improvements to derive deeper and more practical insights from data that can help businesses make informed decisions. However, the majority of these techniques focus on the…
This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We…
Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development of cost-effective and realistic training methods is…
Automated tracking of surgical tool keypoints in robotic surgery videos is an essential task for various downstream use cases such as skill assessment, expertise assessment, and the delineation of safety zones. In recent years, the…
Conventionally, model-based reinforcement learning (MBRL) aims to learn a global model for the dynamics of the environment. A good model can potentially enable planning algorithms to generate a large variety of behaviors and solve diverse…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
Statistical shape modeling (SSM) is an enabling quantitative tool to study anatomical shapes in various medical applications. However, directly using 3D images in these applications still has a long way to go. Recent deep learning methods…
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…
This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…