相关论文: Temporal Segmentation of Surgical Sub-tasks throug…

Time-synchronized state estimation is a challenge for distribution systems because of limited real-time observability. This paper addresses this challenge by formulating a deep learning (DL)-based approach to perform unbalanced three-phase…

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…

Robotic-assisted surgery (RAS) is central to modern surgery, driving the need for intelligent systems with accurate scene understanding. Most existing surgical AI methods rely on isolated, task-specific models, leading to fragmented…

Image segmentation in total knee arthroplasty is crucial for precise preoperative planning and accurate implant positioning, leading to improved surgical outcomes and patient satisfaction. The biggest challenges of image segmentation in…

State estimation is an important aspect in many robotics applications. In this work, we consider the task of obtaining accurate state estimates for robotic systems by enhancing the dynamics model used in state estimation algorithms.…

This paper presents a deep learning framework for medical video segmentation. Convolution neural network (CNN) and transformer-based methods have achieved great milestones in medical image segmentation tasks due to their incredible semantic…

In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…

Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases:…

Medical imaging plays a vital role in modern diagnostics; however, interpreting high-resolution radiological data remains time-consuming and susceptible to variability among clinicians. Traditional image processing techniques often lack the…

Modeling and recognition of surgical activities poses an interesting research problem. Although a number of recent works studied automatic recognition of surgical activities, generalizability of these works across different tasks and…

When diagnosing the brain tumor, doctors usually make a diagnosis by observing multimodal brain images from the axial view, the coronal view and the sagittal view, respectively. And then they make a comprehensive decision to confirm the…

Finite element methods (FEM) are popular approaches for simulation of soft tissues with elastic or viscoelastic behavior. However, their usage in real-time applications, such as in virtual reality surgical training, is limited by…

Multi-modal image registration is a challenging problem that is also an important clinical task for many real applications and scenarios. As a first step in analysis, deformable registration among different image modalities is often…

We introduce specialized diffusion-based generative models that capture the spatiotemporal dynamics of fine-grained robotic surgical sub-stitch actions through supervised learning on annotated laparoscopic surgery footage. The proposed…

Surgical workflow analysis is essential in robot-assisted surgeries, yet the long duration of such procedures poses significant challenges for comprehensive video analysis. Recent approaches have predominantly relied on transformer models;…

Purpose: A virtual reality (VR) system, where surgeons can practice procedures on virtual anatomies, is a scalable and cost-effective alternative to cadaveric training. The fully digitized virtual surgeries can also be used to assess the…

Fetal motion is unpredictable and rapid on the scale of conventional MR scan times. Therefore, dynamic fetal MRI, which aims at capturing fetal motion and dynamics of fetal function, is limited to fast imaging techniques with compromises in…

Evaluating surgeon skill has predominantly been a subjective task. Development of objective methods for surgical skill assessment are of increased interest. Recently, with technological advances such as robotic-assisted minimally invasive…

Accurate state estimation is critical for optimal policy design in dynamic systems. However, obtaining true system states is often impractical or infeasible, complicating the policy learning process. This paper introduces a novel neural…

We study the task of semantic segmentation of surgical instruments in robotic-assisted surgery scenes. We propose the Instance-based Surgical Instrument Segmentation Network (ISINet), a method that addresses this task from an instance-based…