相关论文: Markerless Suture Needle 6D Pose Tracking with Rob…
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for automating various suture needle manipulation tasks in the…
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context…
Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…
Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation.…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Predicting surgical needle trajectories from endoscopic video is critical for robot-assisted suturing, enabling anticipatory planning, real-time guidance, and safer motion execution. Existing methods that directly learn motion distributions…
Many minimally invasive procedures, such as core needle biopsy of focal liver lesions, nerve blocks, and fetal and vascular interventions, are typically performed under ultrasound guidance, which provides real-time, high-resolution…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
Tracking passive magnetic markers plays a vital role in advancing healthcare and robotics, offering the potential to significantly improve the precision and efficiency of systems. This technology is key to developing smarter, more…
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In…
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…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…
In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling…
In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…