相关论文: Sparse-then-Dense Alignment based 3D Map Reconstru…
Accurate endoscope pose estimation and 3D tissue surface reconstruction significantly enhances monocular minimally invasive surgical procedures by enabling accurate navigation and improved spatial awareness. However, monocular endoscope…
3D reconstruction of biological tissues from a collection of endoscopic images is a key to unlock various important downstream surgical applications with 3D capabilities. Existing methods employ various advanced neural rendering techniques…
Multi-map Sparse Monocular visual Simultaneous Localization and Mapping applied to monocular endoscopic sequences has proven efficient to robustly recover tracking after the frequent losses in endoscopy due to motion blur, temporal…
Colorectal cancer is one of the most common cancers in the world. While colonoscopy is an effective screening technique, navigating an endoscope through the colon to detect polyps is challenging. A 3D map of the observed surfaces could…
Essential for improving the accuracy and reliability of bowel cancer screening, three-dimensional (3D) surface reconstruction using capsule endoscopy (CE) images remains challenging due to CE hardware and software limitations. This report…
We present a self-supervised learning-based pipeline for dense 3D reconstruction from full-length monocular endoscopic videos without a priori modeling of anatomy or shading. Our method only relies on unlabeled monocular endoscopic videos…
Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
High-quality 3D reconstruction of pulmonary segments plays a crucial role in segmentectomy and surgical planning for the treatment of lung cancer. Due to the resolution requirement of the target reconstruction, conventional deep…
Complete reconstruction of surgical scenes is crucial for robot-assisted surgery (RAS). Deep depth estimation is promising but existing works struggle with depth discontinuities, resulting in noisy predictions at object boundaries and do…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
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…
Three-dimensional transesophageal echocardiography (3DTEE) is the recommended imaging technique for the assessment of mitral valve (MV) morphology and lesions in case of mitral regurgitation (MR) requiring surgical or transcatheter repair.…
Capsule endoscopes, predominantly serving diagnostic functions, provide lucid internal imagery but are devoid of surgical or therapeutic capabilities. Consequently, despite lesion detection, physicians frequently resort to traditional…
Background: This protocol introduces an ultrasound (US) configuration for whole-body 3D dynamic contrast-enhanced ultrasound (DCE-US) imaging in preclinical applications. The set-up relies on a clinical abdominal matrix US probe to enable…
In perioperative care, precise in-bed 3D patient pose and shape estimation (PSE) can be vital in optimizing patient positioning in preoperative planning, enabling accurate overlay of medical images for augmented reality-based surgical…
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…