相关论文: ToolTipNet: A Segmentation-Driven Deep Learning Ba…
Adverse surgical outcomes are costly to patients and hospitals. Approaches to benchmark surgical care are often limited to gross measures across the entire procedure despite the performance of particular tasks being largely responsible for…
Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance while the semantic segmentation of the robotic instrument…
Accurate instrument pose estimation is a crucial step towards the future of robotic surgery, enabling applications such as autonomous surgical task execution. Vision-based methods for surgical instrument pose estimation provide a practical…
Minimally invasive surgery is a surgical intervention used to examine the organs inside the abdomen and has been widely used due to its effectiveness over open surgery. Due to the hardware improvements such as high definition cameras, this…
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…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Accurate segmentation of thin structures is critical for microsurgical scene understanding but remains challenging due to resolution loss, low contrast, and class imbalance. We propose Microsurgery Instrument Segmentation for Robotic…
Real-time tool segmentation is an essential component in computer-assisted surgical systems. We propose a novel real-time automatic method based on Fully Convolutional Networks (FCN) and optical flow tracking. Our method exploits the…
Purpose: Accurate estimation of the position and orientation (pose) of surgical instruments is crucial for delicate minimally invasive temporal bone surgery. Current techniques lack in accuracy and/or line-of-sight constraints (conventional…
Recognition of individual components and keypoint detection supported by instance segmentation is crucial to analyze the behavior of agents on the scene. Such systems could be used for surveillance, self-driving cars, and also for medical…
Contactless fingerprint recognition systems offer a hygienic, user-friendly, and efficient alternative to traditional contact-based methods. However, their accuracy heavily relies on precise fingertip detection and segmentation,…
Precise instrument segmentation aid surgeons to navigate the body more easily and increase patient safety. While accurate tracking of surgical instruments in real-time plays a crucial role in minimally invasive computer-assisted surgeries,…
Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…
Accurate segmentation of surgical instruments in robotic-assisted surgery is critical for enabling context-aware computer-assisted interventions, such as tool tracking, workflow analysis, and autonomous decision-making. In this study, we…
Image segmentation plays an essential role in medicine for both diagnostic and interventional tasks. Segmentation approaches are either manual, semi-automated or fully-automated. Manual segmentation offers full control over the quality of…
Robot-assisted surgery has made significant progress, with instrument segmentation being a critical factor in surgical intervention quality. It serves as the building block to facilitate surgical robot navigation and surgical education for…
This work proves that semantic segmentation on minimally invasive surgical instruments can be improved by using training data that has been augmented through domain adaptation. The benefit of this method is twofold. Firstly, it suppresses…
Segmentation of surgical instruments is crucial for enhancing surgeon performance and ensuring patient safety. Conventional techniques such as binary, semantic, and instance segmentation share a common drawback: they do not accommodate the…
Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required they could make a difference. One such application is robot-assisted retinal microsurgery.…
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the…