相关论文: Automatic Tool Landmark Detection for Stereo Visio…
Reconstructing deformable tissues from endoscopic stereo videos in robotic surgery is crucial for various clinical applications. However, existing methods relying only on implicit representations are computationally expensive and require…
Rapid advances in 3D model scanning have enabled the mass digitization of dental clay models. However, most clinicians and researchers continue to use manual morphometric analysis methods on these models such as landmarking. This is a…
Applying deep learning (DL) for annotating surgical instruments in robot-assisted minimally invasive surgeries (MIS) represents a significant advancement in surgical technology. This systematic review examines 48 studies that and advanced…
Vessel structure is one of the most important parts of the retina which physicians can detect many diseases by analysing its features. Localization of blood vessels in retina images is an important process in medical image analysis. This…
Segmentation of surgical instruments is an important problem in robot-assisted surgery: it is a crucial step towards full instrument pose estimation and is directly used for masking of augmented reality overlays during surgical procedures.…
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this…
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…
Robot-guided catheter insertion has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate and reliable segmentation of anatomical landmarks in the body.…
Generic 3D reconstruction from a single image is a difficult problem. A lot of data loss occurs in the projection. A domain based approach to reconstruction where we solve a smaller set of problems for a particular use case lead to greater…
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In…
Synthesizing accurate geometry and photo-realistic appearance of small scenes is an active area of research with compelling use cases in gaming, virtual reality, robotic-manipulation, autonomous driving, convenient product capture, and…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…
Colonoscopy is a routine outpatient procedure used to examine the colon and rectum for any abnormalities including polyps, diverticula and narrowing of colon structures. A significant amount of the clinician's time is spent in…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
Machine learning-based approaches outperform competing methods in most disciplines relevant to diagnostic radiology. Interventional radiology, however, has not yet benefited substantially from the advent of deep learning, in particular…