相关论文: SuPer: A Surgical Perception Framework for Endosco…
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…
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…
In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue…
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of an endoscopic camera make tool tracking challenging.…
The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability to sense, interpret, and respond to changes during…
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…
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…