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Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
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…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
A robust and efficient optimization-based 2D/3D registration framework is crucial for the navigation system of orthopedic surgical robots. It can provide precise position information of surgical instruments and implants during surgery.…
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
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…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
Real-time instrument tracking is a crucial requirement for various computer-assisted interventions. In order to overcome problems such as specular reflections and motion blur, we propose a novel method that takes advantage of the…
Precise instrument segmentation aid surgeons to navigate the body more easily and increase patient safety. While accurate tracking of surgical instruments in real-time plays a crucial role in minimally invasive computer-assisted surgeries,…
Accurate instrument pose estimation is a crucial step towards the future of robotic surgery, enabling applications such as autonomous surgical task execution. Vision-based methods for surgical instrument pose estimation provide a practical…
This paper investigates the use of evolutionary optimisation techniques to register a template with a scene image. An error function is created to measure the correspondence of the template to the image. The problem presented here is to…
Evolutionary optimization algorithms often face defects and limitations that complicate the evolution processes or even prevent them from reaching the global optimum. A notable constraint pertains to the considerable quantity of function…