相关论文: TeleOR: Real-time Telemedicine System for Full-Sce…
Surgical Scene Graphs abstract the complexity of surgical operating rooms (OR) into a structure of entities and their relations, but existing paradigms suffer from strictly dyadic structural limitations. Frameworks that predominantly rely…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
Developing embodied AI for intelligent surgical systems requires safe, controllable environments for continual learning and evaluation. However, safety regulations and operational constraints in operating rooms (ORs) limit agents from…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
Modern surgeries are performed in complex and dynamic settings, including ever-changing interactions between medical staff, patients, and equipment. The holistic modeling of the operating room (OR) is, therefore, a challenging but essential…
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the…
Operating rooms (ORs) are complex, high-stakes environments requiring precise understanding of interactions among medical staff, tools, and equipment for enhancing surgical assistance, situational awareness, and patient safety. Current…
Despite the impressive progress of telepresence systems for room-scale scenes with static and dynamic scene entities, expanding their capabilities to scenarios with larger dynamic environments beyond a fixed size of a few square-meters…
Providing intelligent support to surgical teams is a key frontier in automated surgical scene understanding, with the long-term goal of improving patient outcomes. Developing personalized intelligence for all staff members requires…
A comprehensive understanding of surgical scenes allows for monitoring of the surgical process, reducing the occurrence of accidents and enhancing efficiency for medical professionals. Semantic modeling within operating rooms, as a scene…
Surgical procedures are conducted in highly complex operating rooms (OR), comprising different actors, devices, and interactions. To date, only medically trained human experts are capable of understanding all the links and interactions in…
Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Operating rooms (ORs) are cluttered, dynamic, highly occluded environments, where reliable spatial understanding is essential for situational awareness during complex surgical workflows. Achieving spatial understanding for panoptic…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
Sharing live telepresence experiences for teleconferencing or remote collaboration receives increasing interest with the recent progress in capturing and AR/VR technology. Whereas impressive telepresence systems have been proposed on top of…
We present Tensor4D, an efficient yet effective approach to dynamic scene modeling. The key of our solution is an efficient 4D tensor decomposition method so that the dynamic scene can be directly represented as a 4D spatio-temporal tensor.…
We present a method for real-time stereo scene capture and remote VR visualization that allows a human operator to freely move their head and thus intuitively control their perspective during teleoperation. The stereo camera is mounted on a…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…