Related papers: ExpOS: Explainable Open-Surgery Skills Assessment …
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
3D ultrasound (US) is widely used for its rich diagnostic information. However, it is criticized for its limited field of view. 3D freehand US reconstruction is promising in addressing the problem by providing broad range and freeform scan.…
Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…
Automated sports skill assessment requires capturing fundamental movement patterns that distinguish expert from novice performance, yet current video sampling methods disrupt the temporal continuity essential for proficiency evaluation. To…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
Understanding how humans interact with the world necessitates accurate 3D hand pose estimation, a task complicated by the hand's high degree of articulation, frequent occlusions, self-occlusions, and rapid motions. While most existing…
Accurately estimating 3D hand pose is crucial for understanding how humans interact with the world. Despite remarkable progress, existing methods often struggle to generate plausible hand poses when the hand is heavily occluded or blurred.…
While 3D hand reconstruction from monocular images has made significant progress, generating accurate and temporally coherent motion estimates from videos remains challenging, particularly during hand-object interactions. In this paper, we…
Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…
Laparoscopic surgery is a complex surgical technique that requires extensive training. Recent advances in deep learning have shown promise in supporting this training by enabling automatic video-based assessment of surgical skills. However,…
Purpose: Manual feedback in basic RMIS training can consume a significant amount of time from expert surgeons' schedule and is prone to subjectivity. While VR-based training tasks can generate automated score reports, there is no mechanism…
The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…
Surgeons' technical skill directly impacts patient outcomes. To date, the angular motion of the instruments has been largely overlooked in objective skill evaluation. To fill this gap, we have developed metrics for surgical skill evaluation…
Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…
Modeling and automatically recognizing surgical activities are fundamental steps toward automation in surgery and play important roles in providing timely feedback to surgeons. Accurately recognizing surgical activities in video poses a…
Surgical tool detection is a fundamental task for understanding egocentric open surgery videos. However, detecting surgical tools presents significant challenges due to their highly imbalanced class distribution, similar shapes and similar…
Objective: Robot-assisted minimally invasive surgery (RMIS) has become the gold standard for a variety of surgical procedures, but the optimal method of training surgeons for RMIS is unknown. We hypothesized that real-time, rather than…
Background Analyzing kinematic and video data can help identify potentially erroneous motions that lead to sub-optimal surgeon performance and safety-critical events in robot-assisted surgery. Methods We develop a rubric for identifying…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
Surgical skill assessment is important for surgery training and quality control. Prior works on this task largely focus on basic surgical tasks such as suturing and knot tying performed in simulation settings. In contrast, surgical skill…