相关论文: Analysis of Executional and Procedural Errors in D…
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…
In this paper we investigate human-to-robot skill transfer based on the identification of prototypical task executions by clustering a set of examples performed by human demonstrators, where smoothness and kinematic features represent skill…
In laparoscopy surgical training and evaluation, real-time detection of surgical actions with interpretable outputs is crucial for automated and real-time instructional feedback and skill development. Such capability would enable…
Procedural activities are sequences of key-steps aimed at achieving specific goals. They are crucial to build intelligent agents able to assist users effectively. In this context, task graphs have emerged as a human-understandable…
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…
Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development of cost-effective and realistic training methods is…
We introduce the task of early mistake detection in video, where the goal is to determine whether a keystep in a procedural activity is performed correctly while observing as little of the streaming video as possible. To tackle this…
Out-of-distribution states in robot manipulation often lead to unpredictable robot behavior or task failure, limiting success rates and increasing risk of damage. Anomaly detection (AD) can identify deviations from expected patterns in…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
Surgical skill directly affects surgical procedure outcomes; thus, effective training is needed to ensure satisfactory results. Many objective assessment metrics have been developed and some are widely used in surgical training simulators.…
This paper aims to present a novel pipeline for automated surgical skill assessment using video data and to showcase the effectiveness of the proposed approach in evaluating surgeon proficiency, its potential for targeted training…
The goal of this study was to develop new reliable open surgery suturing simulation system for training medical students in situation where resources are limited or in the domestic setup. Namely, we developed an algorithm for tools and…
The motion-and-time analysis has been a popular research topic in operations research, especially for analyzing work performances in manufacturing and service operations. It is regaining attention as continuous improvement tools for lean…
Many application areas ranging from serious games for health to learning by demonstration in robotics, could benefit from large body movement datasets extracted from textual instructions accompanied by images. The interpretation of…
Surgical skills have a great influence on surgical safety and patients' well-being. Traditional assessment of surgical skills involves strenuous manual efforts, which lacks efficiency and repeatability. Therefore, we attempt to…
Over the past one hundred years, the classic teaching methodology of "see one, do one, teach one" has governed the surgical education systems worldwide. With the advent of Operation Room 2.0, recording video, kinematic and many other types…
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…
This concept paper draws from our previous research on individual grip force data collected from biosensors placed on specific anatomical locations in the dominant and non dominant hands of operators performing a robot assisted precision…
We present results of two pilot studies that investigated human error behaviours with an error prone in-air gesture recognizer. During the studies, users performed a small set of simple in-air gestures. In the first study, these gestures…
Endoscopic Sinus and Skull Base Surgeries (ESSBSs) is a challenging and potentially dangerous surgical procedure, and objective skill assessment is the key components to improve the effectiveness of surgical training, to re-validate…