相关论文: Suture Thread Spline Reconstruction from Endoscopi…
3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when…
Automatically recognizing surgical gestures is a crucial step towards a thorough understanding of surgical skill. Possible areas of application include automatic skill assessment, intra-operative monitoring of critical surgical steps, and…
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates coarser representations. Multiple reconstruction methods…
In this paper, we revisit the long-standing problem of automatic reconstruction of 3D objects from single line drawings. Previous optimization-based methods can generate compact and accurate 3D models, but their success rates depend heavily…
In this work, we develop an open-source surgical simulation environment that includes a realistic model obtained by MRI-scanning a physical phantom, for the purpose of training and evaluating a Learning from Demonstration (LfD) algorithm…
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…
The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on…
In medical imaging analysis, deep learning has shown promising results. We frequently rely on volumetric data to segment medical images, necessitating the use of 3D architectures, which are commended for their capacity to capture interslice…
Existing learning-based surface reconstruction methods from point clouds are still facing challenges in terms of scalability and preservation of details on large-scale point clouds. In this paper, we propose the SSRNet, a novel scalable…
In image-assisted minimally invasive surgeries (MIS), understanding surgical scenes is vital for real-time feedback to surgeons, skill evaluation, and improving outcomes through collaborative human-robot procedures. Within this context, the…
3D reconstruction from a single view image is a long-standing prob-lem in computer vision. Various methods based on different shape representations(such as point cloud or volumetric representations) have been proposed. However,the 3D shape…
We propose an approach to reconstruct dense three-dimensional (3D) model of tissue surface from stereo optical videos in real-time, the basic idea of which is to first extract 3D information from video frames by using stereo matching, and…
Magnetic Resonance Imaging (MRI) is a technology for non-invasive imaging of anatomical features in detail. It can help in functional analysis of organs of a specimen but it is very costly. In this work, methods for (i) virtual…
We propose a method to efficiently compute tomographic projections of a 3D volume represented by a linear combination of shifted B-splines. To do so, we propose a ray-tracing algorithm that computes 3D line integrals with arbitrary…
Traditional feature-based image stitching technologies rely heavily on feature detection quality, often failing to stitch images with few features or low resolution. The learning-based image stitching solutions are rarely studied due to the…
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…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
In this paper, we propose three novel and important methods for the registration of histological images for 3D reconstruction. First, possible intensity variations and nonstandardness in images are corrected by an intensity standardization…