Related papers: Guiding the surgical gesture using an electro-tact…
The present paper aims at introducing the innovative technologies, based on the concept of "sensory substitution" or "perceptual supplementation", we are developing in the fields of human disability and biomedical engineering. Precisely,…
Accurate segmentation and tracking of relevant elements of the surgical scene is crucial to enable context-aware intraoperative assistance and decision making. Current solutions remain tethered to domain-specific, supervised models that…
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…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Minimally Invasive Surgery (MIS) techniques have gained rapid popularity among surgeons since they offer significant clinical benefits including reduced recovery time and diminished post-operative adverse effects. However, conventional…
Medical ultrasound has been widely used to examine vascular structure in modern clinical practice. However, traditional ultrasound examination often faces challenges related to inter- and intra-operator variation. The robotic ultrasound…
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…
Directional cues are crucial for environmental interaction. Conventional methods rely on symbolic visual or auditory reminders that require semantic interpretation, a process that proves challenging in demanding dual-tasking scenarios. We…
We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…
We study embodied reference understanding, the task of locating referents using embodied gestural signals and language references. Human studies have revealed that objects referred to or pointed to do not lie on the elbow-wrist line, a…
Surgical scenes convey crucial information about the quality of surgery. Pixel-wise localization of tools and anatomical structures is the first task towards deeper surgical analysis for microscopic or endoscopic surgical views. This is…
We present a technique for providing remote tactile feedback to the thumb and index finger via a wristband device. This enables haptics for touch and pinch interactions in mixed reality (MR) while keeping the hand entirely free. We achieve…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Background: Out-of-plane lesions pose challenges for CT-guided interventions. Augmented reality (AR) headset devices have evolved and are readily capable to provide virtual 3D guidance to improve CT-guided targeting. Purpose: To describe…
Automatic surgical gesture recognition is a prerequisite of intra-operative computer assistance and objective surgical skill assessment. Prior works either require additional sensors to collect kinematics data or have limitations on…
Purpose: Preoperative imaging plays a pivotal role in sinus surgery where CTs offer patient-specific insights of complex anatomy, enabling real-time intraoperative navigation to complement endoscopy imaging. However, surgery elicits…
Natural language offers a convenient, flexible interface for controlling robotic C-arm X-ray systems, making advanced functionality and controls accessible. However, enabling language interfaces requires specialized AI models that interpret…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Human-robot collaboration is an essential research topic in artificial intelligence (AI), enabling researchers to devise cognitive AI systems and affords an intuitive means for users to interact with the robot. Of note, communication plays…
Medical procedures are an essential part of healthcare delivery, and the acquisition of procedural skills is a critical component of medical education. Unfortunately, procedural skill is not evenly distributed among medical providers.…