相关论文: Self-Supervised Learning for Interactive Perceptio…
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…
Vision-based surgical navigation has received increasing attention due to its non-invasive, cost-effective, and flexible advantages. In particular, a critical element of the vision-based navigation system is tracking surgical instruments.…
Accurately estimating and correcting the motion artifacts are crucial for 3D image reconstruction of the abdominal and in-utero magnetic resonance imaging (MRI). The state-of-art methods are based on slice-to-volume registration (SVR) where…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context…
Reconstructing surgical scenes from monocular endoscopic video is critical for advancing robotic-assisted surgery. However, the application of state-of-the-art general-purpose reconstruction models is constrained by two key challenges: the…
Automatic surgical gesture recognition is a prerequisite of intra-operative computer assistance and objective surgical skill assessment. Prior works either require additional sensors to collect kinematics data or have limitations on…
Recovery of a 3D head model including the complete face and hair regions is still a challenging problem in computer vision and graphics. In this paper, we consider this problem using only a few multi-view portrait images as input. Previous…
Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle…
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.,…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
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…
Laparoscopic video tracking primarily focuses on two target types: surgical instruments and anatomy. The former could be used for skill assessment, while the latter is necessary for the projection of virtual overlays. Where instrument and…
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…
Minimally Invasive Surgery (MIS) techniques have gained rapid popularity among surgeons since they offer significant clinical benefits including reduced recovery time and diminished post-operative adverse effects. However, conventional…
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…
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the…
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…