相关论文: Weakly Supervised Recognition of Surgical Gestures

To improve the efficiency of surgical trajectory segmentation for robot learning in robot-assisted minimally invasive surgery, this paper presents a fast unsupervised method using video and kinematic data, followed by a promoting procedure…

We propose a novel multi-modal and multi-task architecture for simultaneous low level gesture and surgical task classification in Robot Assisted Surgery (RAS) videos.Our end-to-end architecture is based on the principles of a long…

We present an approach for weakly supervised learning of human actions from video transcriptions. Our system is based on the idea that, given a sequence of input data and a transcript, i.e. a list of the order the actions occur in the…

Annotation of medical images has been a major bottleneck for the development of accurate and robust machine learning models. Annotation is costly and time-consuming and typically requires expert knowledge, especially in the medical domain.…

We present an approach for weakly supervised learning of human actions. Given a set of videos and an ordered list of the occurring actions, the goal is to infer start and end frames of the related action classes within the video and to…

Robot-assisted catheterization has garnered a good attention for its potentials in treating cardiovascular diseases. However, advancing surgeon-robot collaboration still requires further research, particularly on task-specific automation.…

A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…

Medical image annotation is a major hurdle for developing precise and robust machine learning models. Annotation is expensive, time-consuming, and often requires expert knowledge, particularly in the medical field. Here, we suggest using…

Fully-supervised monocular 3D hand reconstruction is often difficult because capturing the requisite 3D data entails deploying specialized equipment in a controlled environment. We introduce a weakly-supervised method that avoids such…

Purpose: We study the relationship between surgical gestures and motion primitives in dry-lab surgical exercises towards a deeper understanding of surgical activity at fine-grained levels and interpretable feedback in skill assessment.…

Action recognition in videos has attracted a lot of attention in the past decade. In order to learn robust models, previous methods usually assume videos are trimmed as short sequences and require ground-truth annotations of each video…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

Minimally invasive surgery mainly consists of a series of sub-tasks, which can be decomposed into basic gestures or contexts. As a prerequisite of autonomic operation, surgical gesture recognition can assist motion planning and…

Online recognition of gestures is critical for intuitive human-robot interaction (HRI) and further push collaborative robotics into the market, making robots accessible to more people. The problem is that it is difficult to achieve accurate…

Automatic surgical gesture recognition is fundamental for improving intelligence in robot-assisted surgery, such as conducting complicated tasks of surgery surveillance and skill evaluation. However, current methods treat each frame…

Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Action understanding has evolved into the era of fine granularity, as most human behaviors in real life have only minor differences. To detect these fine-grained actions accurately in a label-efficient way, we tackle the problem of…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

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,…