相关论文: Gaze-based Learning from Demonstration In Surgical…
Self-supervised, multi-modal learning has been successful in holistic representation of complex scenarios. This can be useful to consolidate information from multiple modalities which have multiple, versatile uses. Its application in…
The current generation of surgeons requires extensive training in teleoperation to develop specific dexterous skills, which are independent of medical knowledge. Training curricula progress from manipulation tasks to simulated surgical…
Objective: Surgical activity recognition is a fundamental step in computer-assisted interventions. This paper reviews the state-of-the-art in methods for automatic recognition of fine-grained gestures in robotic surgery focusing on recent…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
Robotic-assisted surgery has emerged as a promising approach to improve surgical ergonomics, precision, and workflow efficiency, particularly in complex procedures such as cervical spine surgery. In this study, we evaluate the performance…
Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It requires the robot learning to be sample-efficient, generalizable,…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
Artificial Intelligence (AI) is gradually changing the practice of surgery with the advanced technological development of imaging, navigation and robotic intervention. In this article, the recent successful and influential applications of…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Detection, tracking, and pose estimation of surgical instruments are crucial tasks for computer assistance during minimally invasive robotic surgery. In the majority of cases, the first step is the automatic segmentation of surgical tools.…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…
Otologic surgery has some specificities compared to others surgeries. The anatomic working space is small, with various anatomical structures to preserve, like ossicles or facial nerve. This requires the use of microscope or endoscope. The…
Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
Minimally invasive and robot-assisted surgery relies heavily on endoscopic imaging, yet surgical smoke produced by electrocautery and vessel-sealing instruments can severely degrade visual perception and hinder vision-based functionalities.…
With the growing popularity of robotic surgery, education becomes increasingly important and urgently needed for the sake of patient safety. However, experienced surgeons have limited accessibility due to their busy clinical schedule or…
Laparoscopic surgery constrains surgeons spatial awareness because procedures are performed through a monocular, two-dimensional (2D) endoscopic view. Conventional training methods using dry-lab models or recorded videos provide limited…