相关论文: Tracking Everything in Robotic-Assisted Surgery
Multi-view camera systems enable rich observations of complex real-world scenes, and understanding dynamic objects in multi-view settings has become central to various applications. In this work, we present MV-TAP, a novel point tracker…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Few-shot medical image segmentation (FSMIS) has achieved notable progress, yet most existing methods mainly rely on semantic correspondences from scarce annotations while under-utilizing a key property of medical imagery: anatomical targets…
Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…
Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
This paper proposes a concise, elegant, and robust pipeline to estimate smooth camera trajectories and obtain dense point clouds for casual videos in the wild. Traditional frameworks, such as ParticleSfM~\cite{zhao2022particlesfm}, address…
We introduce a new benchmark, TAPVid-3D, for evaluating the task of long-range Tracking Any Point in 3D (TAP-3D). While point tracking in two dimensions (TAP) has many benchmarks measuring performance on real-world videos, such as…
Enabled by large annotated datasets, tracking and segmentation of objects in videos has made remarkable progress in recent years. Despite these advancements, algorithms still struggle under degraded conditions and during fast movements.…
Automated recognition of surgical phases and steps is a fundamental capability for intraoperative decision support, workflow automation, and skill assessment in robotic-assisted surgery. Existing approaches either depend on large-scale…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception…
Recent approaches to point tracking are able to recover the trajectory of any scene point through a large portion of a video despite the presence of occlusions. They are, however, too slow in practice to track every point observed in a…
Validation of newly developed optical tissue sensing techniques for tumor detection during cancer surgery requires an accurate correlation with histological results. Additionally, such accurate correlation facilitates precise data labeling…
Robot-assisted minimally invasive surgery is improving surgeon performance and patient outcomes. This innovation is also turning what has been a subjective practice into motion sequences that can be precisely measured. A growing number of…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
This work focuses on multi-shot semi-supervised video object segmentation (MVOS), which aims at segmenting the target object indicated by an initial mask throughout a video with multiple shots. The existing VOS methods mainly focus on…
Vision-based surgical navigation has received increasing attention due to its non-invasive, cost-effective, and flexible advantages. In particular, a critical element of the vision-based navigation system is tracking surgical instruments.…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…