相关论文: Autonomously Navigating a Surgical Tool Inside the…

For robot-assisted surgery, an accurate surgical report reflects clinical operations during surgery and helps document entry tasks, post-operative analysis and follow-up treatment. It is a challenging task due to many complex and diverse…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

Stroke is a major public health problem, affecting millions worldwide. Deep learning has recently demonstrated promise for enhancing the diagnosis and risk prediction of stroke. However, existing methods rely on costly medical imaging…

Automatic segmentation of retinal blood vessels from fundus images plays an important role in the computer aided diagnosis of retinal diseases. The task of blood vessel segmentation is challenging due to the extreme variations in morphology…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

This work explores the feasibility of steering a drone with a (recurrent) neural network, based on input from a forward looking camera, in the context of a high-level navigation task. We set up a generic framework for training a network to…

Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…

Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

The task of automatically segmenting 3-D surfaces representing boundaries of objects is important for quantitative analysis of volumetric images, and plays a vital role in biomedical image analysis. Recently, graph-based methods with a…

Under conventional "open-" surgery, the physician has to take care of the patient, interact with other clinicians and check several monitoring devices. Nowadays, the Computer Assisted Surgery proposes to integrate 3D cameras in the…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…

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…

One powerful paradigm in visual navigation is to predict actions from observations directly. Training such an end-to-end system allows representations useful for downstream tasks to emerge automatically. However, the lack of inductive bias…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

In this work, we utilize image segmentation to visually identify blood vessels in retinal examination images. This process is typically carried out manually. However, we can employ heuristic methods and machine learning to automate or at…

Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…

In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…

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…