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The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
The reconstruction of textureless areas has long been a challenging problem in MVS due to lack of reliable pixel correspondences between images. In this paper, we propose the Textureless-aware Segmentation And Correlative Refinement guided…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
Seam carving is a computational method capable of resizing images for both reduction and expansion based on its content, instead of the image geometry. Although the technique is mostly employed to deal with redundant information, i.e.,…
Modern electron tomography has progressed to higher resolution at lower doses by leveraging compressed sensing methods that minimize total variation (TV). However, these sparsity-emphasized reconstruction algorithms introduce tunable…
3D scanning as a technique to digitize objects in reality and create their 3D models, is used in many fields and areas. Though the quality of 3D scans depends on the technical characteristics of the 3D scanner, the common drawback is the…
In this paper, we investigate image reconstruction for dynamic Computed Tomography. The motion of the target with respect to the measurement acquisition rate leads to highly resolved in time but highly undersampled in space measurements.…
Semantic segmentation of robotic instruments is an important problem for the robot-assisted surgery. One of the main challenges is to correctly detect an instrument's position for the tracking and pose estimation in the vicinity of surgical…
This paper introduces a novel method for reconstructing meshes from sparse point clouds by predicting edge connection. Existing implicit methods usually produce superior smooth and watertight meshes due to the isosurface extraction…
State-of-the-art computer- and robot-assisted surgery systems heavily depend on intraoperative imaging technologies such as CT and fluoroscopy to generate detailed 3D visualization of the patient's anatomy. While imaging techniques are…
Surgical scene simulation plays a crucial role in surgical education and simulator-based robot learning. Traditional approaches for creating these environments with surgical scene involve a labor-intensive process where designers hand-craft…
Contemporary approaches to solving various problems that require analyzing three-dimensional (3D) meshes and point clouds have adopted the use of deep learning algorithms that directly process 3D data such as point coordinates, normal…
Domain discretization is an essential part of the solution procedure in numerical simulations. Meshless methods simplify the domain discretization to positioning of nodes in the interior and on the boundary of the domain. However, generally…
The structural integrity of self-piercing rivet (SPR) joints is critical in automotive industries, yet its evaluation poses challenges due to the limitations of traditional destructive methods. This research introduces an innovative…
Some endoscopic surgeries require a surgeon to hold the endoscope with one hand and the surgical instruments with the other hand to perform the actual surgery with correct vision. Recent technical advances in deep learning as well as in…
Automated sample preparation and electron microscopy enables acquisition of very large image data sets. These technical advances are of special importance to the field of neuroanatomy, as 3D reconstructions of neuronal processes at the nm…
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…
Chinese acupuncture practitioners primarily depend on muscle memory and tactile feedback to insert needles and accurately target acupuncture points, as the current workflow lacks imaging modalities and visual aids. Consequently, new…
We introduce the task of stereo video reconstruction or, equivalently, 2D-to-3D video conversion for minimally invasive surgical video. We design and implement a series of end-to-end U-Net-based solutions for this task by varying the input…