相关论文: Applying Depth-Sensing to Automated Surgical Manip…
With the advent of robot-assisted surgery, the role of data-driven approaches to integrate statistics and machine learning is growing rapidly with prominent interests in objective surgical skill assessment. However, most existing work…
Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…
A method that enables an industrial robot to accomplish the peg-in-hole task for holes in concrete is proposed. The proposed method involves slightly detaching the peg from the wall, when moving between search positions, to avoid the…
In the modern medical care, venipuncture is an indispensable procedure for both diagnosis and treatment. In this paper, unlike existing solutions that fully or partially rely on professional assistance, we propose VeniBot -- a compact…
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…
Deep learning has revolutionised many fields, but it is still challenging to transfer its success to small mobile robots with minimal hardware. Specifically, some work has been done to this effect in the RoboCup humanoid football domain,…
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…
Scalp electroencephalogram (EEG) signals inherently have a low signal-to-noise ratio due to the way the signal is electrically transduced. Temporal and spatial information must be exploited to achieve accurate detection of seizure events.…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Transfer learning leverages pre-trained model features from a large dataset to save time and resources when training new models for various tasks, potentially enhancing performance. Due to the lack of large datasets in the medical imaging…
Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While…
Intraoperative navigation in spine surgery demands millimeter-level accuracy. Currently, this is achieved through radiation-intensive intraoperative imaging and bone-anchored markers that are invasive and disrupt surgical workflow.…
Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…
Learning meaningful visual representations in an embedding space can facilitate generalization in downstream tasks such as action segmentation and imitation. In this paper, we learn a motion-centric representation of surgical video…