相关论文: hSDB-instrument: Instrument Localization Database …
Optical colonoscopy is an essential diagnostic and prognostic tool for many gastrointestinal diseases, including cancer screening and staging, intestinal bleeding, diarrhea, abdominal symptom evaluation, and inflammatory bowel disease…
For an autonomous robotic system, monitoring surgeon actions and assisting the main surgeon during a procedure can be very challenging. The challenges come from the peculiar structure of the surgical scene, the greater similarity in…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
Existing indoor SLAM datasets primarily focus on robot sensing, often lacking building architectures. To address this gap, we design and construct the first dataset to couple the SLAM and BIM, named SLABIM. This dataset provides BIM and…
Computer aided diagnostics often requires analysis of a region of interest (ROI) within a radiology scan, and the ROI may be an organ or a suborgan. Although deep learning algorithms have the ability to outperform other methods, they rely…
Spatial transcriptomics (ST) enables the visualization of gene expression within the context of tissue morphology. This emerging discipline has the potential to serve as a foundation for developing tools to design precision medicines.…
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the…
Augmented reality (AR) devices with head mounted displays (HMDs) facilitate the direct superimposition of 3D preoperative imaging data onto the patient during surgery. To use an HMD-AR device as a stand-alone surgical navigation system, the…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…
Computer-assisted systems are becoming broadly used in medicine. In endoscopy, most research focuses on the automatic detection of polyps or other pathologies, but localization and navigation of the endoscope are completely performed…
Whole abdominal organ segmentation is important in diagnosing abdomen lesions, radiotherapy, and follow-up. However, oncologists' delineating all abdominal organs from 3D volumes is time-consuming and very expensive. Deep learning-based…
We introduce SAM 3D Body (3DB), a promptable model for single-image full-body 3D human mesh recovery (HMR) that demonstrates state-of-the-art performance, with strong generalization and consistent accuracy in diverse in-the-wild conditions.…
Colonoscopy is a standard imaging tool for visualizing the entire gastrointestinal (GI) tract of patients to capture lesion areas. However, it takes the clinicians excessive time to review a large number of images extracted from colonoscopy…
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial…
Surgical action triplets describe instrument-tissue interactions as (instrument, verb, target) combinations, thereby supporting a detailed analysis of surgical scene activities and workflow. This work focuses on surgical action triplet…
We present a fully automated, two-stage modular glottal area segmentation framework for high-speed videoendoscopy (HSV) designed for accuracy, generalizability, and real-time playback. Our detection-gated pipeline combines a YOLOv8n glottis…