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Motion information from 4D medical imaging offers critical insights into dynamic changes in patient anatomy for clinical assessments and radiotherapy planning and, thereby, enhances the capabilities of 3D image analysis. However, inherent…
Cochlear implant surgery is a treatment for individuals with severe hearing loss. It involves inserting an array of electrodes inside the cochlea to electrically stimulate the auditory nerve and restore hearing sensation. A crucial step in…
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…
In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
Silent Speech Interfaces aim to reconstruct the acoustic signal from a sequence of ultrasound tongue images that records the articulatory movement. The extraction of information about the tongue movement requires us to efficiently process…
Intelligent assistive systems can navigate blind people, but most of them could only give non-intuitive cues or inefficient guidance. Based on computer vision and vibrotactile encoding, this paper presents an interactive system that…
This report describes the design, implementation, evaluation and original enhancements to the Live-Wire method for 2D and 3D image segmentation. Live-Wire 2D employs a semi-automatic paradigm; the user is asked to select a few boundary…
Purpose: Tracking the 3D motion of the surgical tool and the patient anatomy is a fundamental requirement for computer-assisted skull-base surgery. The estimated motion can be used both for intra-operative guidance and for downstream skill…
Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…
In modern medical diagnostics, magnetic resonance imaging (MRI) is an important technique that provides detailed insights into anatomical structures. In this paper, we present a comprehensive methodology focusing on streamlining the…
Recent advances in haptic hardware and software technology have generated interest in novel, multimodal interfaces based on the sense of touch. Such interfaces have the potential to revolutionize the way we think about human computer…
Early visual to auditory substitution devices encode 2D monocular images into sounds while more recent devices use distance information from 3D sensors. This study assesses whether the addition of sound-encoded distance in recent systems…
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…
Unsupervised domain adaptation for medical image segmentation remains a significant challenge due to substantial domain shifts across imaging modalities, such as CT and MRI. While recent vision-language representation learning methods have…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…
Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical…
Purpose: Delineating tumor boundaries during breast-conserving surgery is challenging as tumors are often highly mobile, non-palpable, and have irregularly shaped borders. To address these challenges, we introduce a cooperative robotic…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…