Related papers: Touchless Intraoperative Image Access System Based…
Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…
We present an on-device real-time hand gesture recognition (HGR) system, which detects a set of predefined static gestures from a single RGB camera. The system consists of two parts: a hand skeleton tracker and a gesture classifier. We use…
Localizing oneself during endoscopic procedures can be problematic due to the lack of distinguishable textures and landmarks, as well as difficulties due to the endoscopic device such as a limited field of view and challenging lighting…
Computer-assisted minimally invasive surgery has great potential in benefiting modern operating theatres. The video data streamed from the endoscope provides rich information to support context-awareness for next-generation intelligent…
Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper…
Grasping under limited sensing remains a fundamental challenge for real-world robotic manipulation, as vision and high-resolution tactile sensors often introduce cost, fragility, and integration complexity. This work demonstrates that…
Cancer remains a significant health challenge worldwide, with a new diagnosis occurring every two minutes in the UK. Surgery is one of the main treatment options for cancer. However, surgeons rely on the sense of touch and naked eye with…
Neurosurgery requires exceptional precision and comprehensive preoperative planning to ensure optimal patient outcomes. Despite technological advancements, there remains a need for intuitive, accessible tools to enhance surgical preparation…
In the field of computer- and robot-assisted minimally invasive surgery, enormous progress has been made in recent years based on the recognition of surgical instruments in endoscopic images and videos. In particular, the determination of…
Purpose: Accurate intraoperative X-ray/CT registration is essential for surgical navigation in orthopedic procedures. However, existing methods struggle with consistently achieving sub-millimeter accuracy, robustness under broad initial…
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input device of the surgical console: (1) Inside Control Mode,…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy…
Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…
During medicine studies, visualization of certain elements is common and indispensable in order to get more information about the way they work. Currently, we resort to the use of photographs -which are insufficient due to being static- or…
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…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…