相关论文: Automating Vascular Shunt Insertion with the dVRK …
The precise delineation of blood vessels in medical images is critical for many clinical applications, including pathology detection and surgical planning. However, fully-automated vascular segmentation is challenging because of the…
Background: Accurate volumetric assessment of spontaneous subarachnoid hemorrhage (SAH) is a labor-intensive task performed with current manual and semiautomatic methods that might be relevant for its clinical and prognostic implications.…
Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
Surgical emergencies often trigger acute cognitive overload in novice physicians, impairing their decision-making under pressure. Although Virtual Reality-based Stress Inoculation Training (VR-SIT) shows promise, current systems fall short…
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…
Self-supervised pretrain techniques have been widely used to improve the downstream tasks' performance. However, real-world magnetic resonance (MR) studies usually consist of different sets of contrasts due to different acquisition…
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…
Maternal health remains a pervasive challenge in developing and underdeveloped countries. Inadequate access to basic antenatal Ultrasound (US) examinations, limited resources such as primary health services and infrastructure, and lack of…
Vision-Language-Action (VLA) models have emerged as a prominent research area, showcasing significant potential across a variety of applications. However, their performance in endoscopy robotics, particularly endoscopy capsule robots that…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
In traumatic medical emergencies, the patients heavily depend on cranioplasty - the craft of neurocranial repair using cranial implants. Despite the improvements made in recent years, the design of a patient-specific implant (PSI) is among…
Advances in computational science offer a principled pipeline for predictive modeling of cardiovascular flows and aspire to provide a valuable tool for monitoring, diagnostics and surgical planning. Such models can be nowadays deployed on…
This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D is developed as a complete navigation system based on…
Nasotracheal intubation (NTI) is critical for establishing artificial airways in clinical anesthesia and critical care. Current manual methods face significant challenges, including cross-infection, especially during respiratory infection…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction…
The nasopharyngeal (NP) swab test is a method for collecting cultures to diagnose for different types of respiratory illnesses, including COVID-19. Delegating this task to robots would be beneficial in terms of reducing infection risks and…
Surgical reconstruction of dynamic tissues from endoscopic videos is a crucial technology in robot-assisted surgery. The development of Neural Radiance Fields (NeRFs) has greatly advanced deformable tissue reconstruction, achieving…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…