相关论文: STITCH: Augmented Dexterity for Suture Throws Incl…
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…
We present STITCH, a novel approach for neural implicit surface reconstruction of a sparse and irregularly spaced point cloud while enforcing topological constraints (such as having a single connected component). We develop a new…
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…
Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can significantly reduce surgeons' fatigue during tele-operated…
Text-to-Image (T2I) generation models have advanced rapidly in recent years, but accurately capturing spatial relationships like "above" or "to the right of" poses a persistent challenge. Earlier methods improved spatial relationship…
Deep learning-based image stitching pipelines are typically divided into three cascading stages: registration, fusion, and rectangling. Each stage requires its own network training and is tightly coupled to the others, leading to error…
Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing themselves in the numerous intricacies of a surgical…
Image stitching synthesizes images captured from multiple perspectives into a single image with a broader field of view. The significant variations in object depth often lead to large parallax, resulting in ghosting and misalignment in the…
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of…
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…
In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling…
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for automating various suture needle manipulation tasks in the…
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…
Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…
Multi-modal image stitching can be a difficult feat. That's why, in this paper, we've devised a unique and comprehensive image-stitching pipeline that taps into OpenCV's stitching module. Our approach integrates feature-based matching,…
We retarget video stitching to an emerging issue, named warping shake, which unveils the temporal content shakes induced by sequentially unsmooth warps when extending image stitching to video stitching. Even if the input videos are stable,…
We present an error-controlled mesh refinement procedure for needle insertion simulation and apply it to the simulation of electrode implantation for deep brain stimulation, including brain shift. Our approach enables to control the error…