相关论文: STITCH: Augmented Dexterity for Suture Throws Incl…
Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous…
We formalize Italian smocking, an intricate embroidery technique that gathers flat fabric into pleats along meandering lines of stitches, resulting in pleats that fold and gather where the stitching veers. In contrast to English smocking,…
Curved elastic shells can be fabricated through molding or by harnessing residual stresses. These shells often exhibit snap-through behavior and multistability when loaded. We present a unique way of fabricating curved elastic shells that…
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…
Procedural activities, ranging from routine cooking to complex surgical operations, are highly structured sequences of actions performed in a specific temporal order. Despite the success of current self-supervised learning (SSL) methods on…
Image stitching aim to align two images taken from different viewpoints into one seamless, wider image. However, when the 3D scene contains depth variations and the camera baseline is significant, noticeable parallax occurs-meaning the…
Traditional image stitching algorithms use transforms such as homography to combine different views of a scene. They usually work well when the scene is planar or when the camera is only rotated, keeping its position static. This severely…
In this paper, a new method is proposed to automatically detect screw threads in 3D density fields obtained from computed tomography measurement devices. The described method can be used to automate many operations during screw thread…
Video endoscopy represents a major advance in the investigation of gastrointestinal diseases. Reviewing endoscopy videos often involves frequent adjustments and reorientations to piece together a complete view, which can be both…
Percutaneous dilatational tracheostomy (PDT) is frequently performed on patients in intensive care units for prolonged mechanical ventilation. The needle puncture, as the most critical step of PDT, could lead to adverse consequences such as…
Recently, joint registration and segmentation has been formulated in a deep learning setting, by the definition of joint loss functions. In this work, we investigate joining these tasks at the architectural level. We propose a registration…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. Most prior efforts, however, often assume that the target object's CAD model, at least at a category-level, is available for offline training or during…
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…
Accurate visualization of interventional devices, such as medical needles, is essential for the safe and effective guidance of minimally invasive procedures. Ultrasound (US) imaging is widely used for needle guidance, but the…
This paper presents an effective normal estimation method adopting multi-patch stitching for an unstructured point cloud. The majority of learning-based approaches encode a local patch around each point of a whole model and estimate the…
Image generation technology can synthesize condition-specific images to supplement real-world industrial anomaly data and enhance anomaly detection model performance. Existing generation techniques rarely account for the pose and…
Recent 4D generation methods complete scene-level missing information using generative models and reconstruct the scene into radiance-based representations. However, these pipelines often present geometric inconsistencies in the generated…
Existing frameworks for image stitching often provide visually reasonable stitchings. However, they suffer from blurry artifacts and disparities in illumination, depth level, etc. Although the recent learning-based stitchings relax such…
Brachytherapy involves bringing a radioactive source near tumor tissue using implanted needles. Image-guided brachytherapy planning requires amongst others, the reconstruction of the needles. Manually annotating these needles on patient…