Related papers: MiDAS: A Multimodal Data Acquisition System and Da…
Minimally invasive surgery (MIS) offers several advantages including minimum tissue injury and blood loss, and quick recovery time, however, it imposes some limitations on surgeons ability. Among others such as lack of tactile or haptic…
Minimally invasive surgery (MIS) offers significant benefits such as reduced recovery time and minimised patient trauma, but poses challenges in visibility and access, making accurate 3D reconstruction a significant tool in surgical…
Majority of stroke survivors are left with poorly functioning paretic hands. Current rehabilitation devices have failed to motivate the patients enough to continue rehabilitation exercises. The objective of this project, MIDAS…
Coverless Image Steganography (CIS) hides information without explicitly modifying a cover image, providing strong imperceptibility and inherent robustness to steganalysis. However, existing CIS methods largely lack robust access control,…
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of RAMIS is the surgeon's inability to palpate tissues, a crucial technique…
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and control paradigms that have characterized surgical…
Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers…
Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
The potential of Augmented Reality (AR) technology to assist minimally invasive surgeries (MIS) lies in its computational performance and accuracy in dealing with challenging MIS scenes. Even with the latest hardware and software…
This paper tackles instrument tracking and 3D visualization challenges in minimally invasive surgery (MIS), crucial for computer-assisted interventions. Conventional and robot-assisted MIS encounter issues with limited 2D camera projections…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
In the past decade, deep learning (DL) has achieved unprecedented success in numerous fields including computer vision, natural language processing, and healthcare. In particular, DL is experiencing an increasing development in applications…
Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
Robotic-assisted minimally invasive surgery (MIS) has enabled procedures with increased precision and dexterity, but surgical robots are still open loop and require surgeons to work with a tele-operation console providing only limited…
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…
The natural interaction and control performance of lower limb rehabilitation robots are closely linked to biomechanical information from various human locomotion activities. Multidimensional human motion data significantly deepen the…
Touchless interaction with medical images is becoming increasingly important in the surgical field, where sterility and continuity of the operational workflow are essential requirements. This work presents a vision-based system for…
We propose a new benchmark for evaluating stereoscopic visual-inertial computer vision algorithms (SLAM/ SfM/ 3D Reconstruction/ Visual-Inertial Odometry) for minimally invasive surgical (MIS) interventions in the abdomen. Our MITI Dataset…