相关论文: A New Classification Approach for Robotic Surgical…

Modeling and recognition of surgical activities poses an interesting research problem. Although a number of recent works studied automatic recognition of surgical activities, generalizability of these works across different tasks and…

Collaborative robots are increasingly present in industry to support human activities. However, to make the human-robot collaborative process more effective, there are several challenges to be addressed. Collaborative robotic systems need…

In laparoscopy surgical training and evaluation, real-time detection of surgical actions with interpretable outputs is crucial for automated and real-time instructional feedback and skill development. Such capability would enable…

Robots learning a new manipulation task from a small amount of demonstrations are increasingly demanded in different workspaces. A classifier model assessing the quality of actions can predict the successful completion of a task, which can…

Automatic recognition of surgical activities in the operating room (OR) is a key technology for creating next generation intelligent surgical devices and workflow monitoring/support systems. Such systems can potentially enhance efficiency…

Surgery is a high-stakes domain where surgeons must navigate critical anatomical structures and actively avoid potential complications while achieving the main task at hand. Such surgical activity has been shown to affect long-term patient…

Accurate and computationally efficient means for classifying human activities have been the subject of extensive research efforts. Most current research focuses on extracting complex features to achieve high classification accuracy. We…

Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…

Fine-grained activity recognition enables explainable analysis of procedures for skill assessment, autonomy, and error detection in robot-assisted surgery. However, existing recognition models suffer from the limited availability of…

Modern applications such as voice recognition rely on the ability to compare signals to pre-recorded ones to classify them. However, this comparison typically needs to ignore differences due to signal noise, temporal offset, signal…

Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…

As the frontline data for cancer diagnosis, microscopic pathology images are fundamental for providing patients with rapid and accurate treatment. However, despite their practical value, the deep learning community has largely overlooked…

Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…

Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods to achieve high precision. However, they have difficulty…

It is a big problem that a model of deep learning for a picking robot needs many labeled images. Operating costs of retraining a model becomes very expensive because the object shape of a product or a part often is changed in a factory. It…

We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder straight-forward implementation of imitation learning. Notably,…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

Gesture recognition and hand motion tracking are important tasks in advanced gesture based interaction systems. In this paper, we propose to apply a sliding windows filtering approach to sample the incoming streams of data from data gloves…

Prior work has demonstrated the feasibility of automated activity recognition in robot-assisted surgery from motion data. However, these efforts have assumed the availability of a large number of densely-annotated sequences, which must be…

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…