相关论文: Learning to Localize, Grasp, and Hand Over Unmodif…
Gesture recognition is a very essential technology for many wearable devices. While previous algorithms are mostly based on statistical methods including the hidden Markov model, we develop two dynamic hand gesture recognition techniques…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
We present RASO, a foundation model designed to Recognize Any Surgical Object, offering robust open-set recognition capabilities across a broad range of surgical procedures and object classes, in both surgical images and videos. RASO…
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist:…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
We present HandOver, an extended reality (XR) interaction technique designed to unify the precision of traditional mouse input for object selection with the expressiveness of hand-tracking for object manipulation. With HandOver, the mouse…
Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…
Accurate and real-time surgical instrument segmentation is important in the endoscopic vision of robot-assisted surgery, and significant challenges are posed by frequent instrument-tissue contacts and continuous change of observation…
Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with…
We use static object data to improve success detection for stacking objects on and nesting objects in one another. Such actions are necessary for certain robotics tasks, e.g., clearing a dining table or packing a warehouse bin. However,…
Evaluating surgeon skill has predominantly been a subjective task. Development of objective methods for surgical skill assessment are of increased interest. Recently, with technological advances such as robotic-assisted minimally invasive…
Our previous work classified a taxonomy of suturing gestures during a vesicourethral anastomosis of robotic radical prostatectomy in association with tissue tears and patient outcomes. Herein, we train deep-learning based computer vision…
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue types presents difficulties for surgeons in achieving…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…
We present a self-supervised algorithm for several classification tasks within hematoxylin and eosin (H&E) stained images of breast cancer. Our method is robust to stain variations inherent to the histology images acquisition process, which…