相关论文: Self-Supervised Learning for Interactive Perceptio…

A major challenge of the long measurement times in magnetic resonance imaging (MRI), an important medical imaging technology, is that patients may move during data acquisition. This leads to severe motion artifacts in the reconstructed…

Recently, great progress has been made in 3D deep learning with the emergence of deep neural networks specifically designed for 3D point clouds. These networks are often trained from scratch or from pre-trained models learned purely from…

Minimally invasive surgery mainly consists of a series of sub-tasks, which can be decomposed into basic gestures or contexts. As a prerequisite of autonomic operation, surgical gesture recognition can assist motion planning and…

Analysis and visualization of 3D microscopy images pose challenges due to anisotropic axial resolution, demanding volumetric super-resolution along the axial direction. While training a learning-based 3D super-resolution model seems to be a…

While modern visual recognition systems have made significant advancements, many continue to struggle with the open problem of learning from few exemplars. This paper focuses on the task of object detection in the setting where object…

Our previous work classified a taxonomy of suturing gestures during a vesicourethral anastomosis of robotic radical prostatectomy in association with tissue tears and patient outcomes. Herein, we train deep-learning based computer vision…

As deep learning methods continue to improve medical image segmentation performance, data annotation is still a big bottleneck due to the labor-intensive and time-consuming burden on medical experts, especially for 3D images. To…

Reverse engineering CAD models from raw geometry is a classic but strenuous research problem. Previous learning-based methods rely heavily on labels due to the supervised design patterns or reconstruct CAD shapes that are not easily…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

Self-supervised learning has shown great promise due to its capability to train deep learning MRI reconstruction methods without fully-sampled data. Current self-supervised learning methods for physics-guided reconstruction networks split…

Automatic segmentation of organs-at-risk (OARs) in CT scans using convolutional neural networks (CNNs) is being introduced into the radiotherapy workflow. However, these segmentations still require manual editing and approval by clinicians…

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where a robot is…

In clinical practice, 2D magnetic resonance (MR) sequences are widely adopted. While individual 2D slices can be stacked to form a 3D volume, the relatively large slice spacing can pose challenges for both image visualization and subsequent…

In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…

Deep neural networks for aerial image segmentation require large amounts of labeled data, but high-quality aerial datasets with precise annotations are scarce and costly to produce. To address this limitation, we propose a self-supervised…

Deep anomaly detection models using a supervised mode of learning usually work under a closed set assumption and suffer from overfitting to previously seen rare anomalies at training, which hinders their applicability in a real scenario. In…

Recovering textured 3D models of non-rigid human body shapes is challenging due to self-occlusions caused by complex body poses and shapes, clothing obstructions, lack of surface texture, background clutter, sparse set of cameras with…

Self-supervised pretraining has become the mainstream approach for learning MRI representations from unlabeled scans. However, most existing objectives still treat each scan primarily as static aggregations of slices, patches or volumes. We…

Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…

This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is…