相关论文: ESD CYCLOPS: A new robotic surgical system for GI …
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
Video endoscopy represents a major advance in the investigation of gastrointestinal diseases. Reviewing endoscopy videos often involves frequent adjustments and reorientations to piece together a complete view, which can be both…
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
Unsupervised video-based surgical instrument segmentation has the potential to accelerate the adoption of robot-assisted procedures by reducing the reliance on manual annotations. However, the generally low quality of optical flow in…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
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…
Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper…
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
Ulcerative Colitis (UC) is a chronic inflammatory bowel disease decreasing life quality through symptoms such as bloody diarrhoea and abdominal pain. Endoscopy is a cornerstone of diagnosis and monitoring of UC. The Mayo endoscopic subscore…
The stomach plays a central role in digestion through coordinated muscle contractions, known as gastric peristalsis, driven by slow-wave electrophysiology. Understanding this process is critical for treating motility disorders such as…
Traditional control and task automation have been successfully demonstrated in a variety of structured, controlled environments through the use of highly specialized modeled robotic systems in conjunction with multiple sensors. However, the…
Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…
Surgical phase recognition plays a critical role in developing intelligent assistance systems for minimally invasive procedures such as Endoscopic Submucosal Dissection (ESD). However, the high visual similarity across different phases and…
Since the development of capsule endoscopcy technology, substantial progress were made in converting passive capsule endoscopes to robotic active capsule endoscopes which can be controlled by the doctor. However, robotic capsule endoscopy…
In this work, we present EndoDINO, a foundation model for GI endoscopy tasks that achieves strong generalizability by pre-training on a well-curated image dataset sampled from the largest known GI endoscopy video dataset in the literature.…
Geometric reconstruction and SLAM with endoscopic images have advanced significantly in recent years. In most medical fields, monocular endoscopes are employed, and the algorithms used are typically adaptations of those designed for…
Endoscopic image analysis is vital for colorectal cancer screening, yet real-world conditions often suffer from lens fogging, motion blur, and specular highlights, which severely compromise automated polyp detection. We propose EndoCaver, a…
Purpose: To report the feasibility and the safety of a surgeon-controlled robotic endoscope holder in laparoscopic surgery. Materials and methods: From March 2010 to September 2010, 20 patients were enrolled prospectively to undergo a…