相关论文: Open-source High-precision Autonomous Suturing Fra…

The subject area known as computational neuroscience involves the investigation of brain function using mathematical techniques and theories. In order to comprehend how the brain processes information, it can also include various methods…

Most recent approaches to monocular 3D pose estimation rely on Deep Learning. They either train a Convolutional Neural Network to directly regress from image to 3D pose, which ignores the dependencies between human joints, or model these…

Recently, self-supervised learning (SSL) methods have been used in pre-training the segmentation models for 2D and 3D medical images. Most of these methods are based on reconstruction, contrastive learning and consistency regularization.…

Supervised machine learning provides state-of-the-art solutions to a wide range of computer vision problems. However, the need for copious labelled training data limits the capabilities of these algorithms in scenarios where such input is…

Human silhouette extraction is a fundamental task in computer vision with applications in various downstream tasks. However, occlusions pose a significant challenge, leading to incomplete and distorted silhouettes. To address this…

Purpose: This research aims to facilitate the use of state-of-the-art computer vision algorithms for the automated training of surgeons and the analysis of surgical footage. By estimating 2D hand poses, we model the movement of the…

We present SurgeonAssist-Net: a lightweight framework making action-and-workflow-driven virtual assistance, for a set of predefined surgical tasks, accessible to commercially available optical see-through head-mounted displays (OST-HMDs).…

Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline…

Model compression is crucial for deployment of neural networks on devices with limited computational and memory resources. Many different methods show comparable accuracy of the compressed model and similar compression rates. However, the…

Hand-eye calibration plays a fundamental role in robotics by directly influencing the efficiency of critical operations such as manipulation and grasping. In this work, we present a novel framework, EasyHeC++, designed for fully automatic…

The performance of supervised deep learning methods for medical image segmentation is often limited by the scarcity of labeled data. As a promising research direction, semi-supervised learning addresses this dilemma by leveraging unlabeled…

Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of…

Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could…

Deformable medical image registration is a fundamental task in medical image analysis with applications in disease diagnosis, treatment planning, and image-guided interventions. Despite significant advances in deep learning based…

Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…

Fueled by recent advances in machine learning, there has been tremendous progress in the field of semantic segmentation for the medical image computing community. However, developed algorithms are often optimized and validated by hand based…

It is challenging to directly estimate the human geometry from a single image due to the high diversity and complexity of body shapes with the various clothing styles. Most of model-based approaches are limited to predict the shape and pose…

This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots…

In this paper we propose a high-order accurate scheme for image segmentation based on the level-set method. In this approach, the curve evolution is described as the 0-level set of a representation function but we modify the velocity that…

This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…