相关论文: Open-Source Multi-Viewpoint Surgical Telerobotics
Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responders in such situations. However, first-person view…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
3D reconstruction of endoscopic surgery scenes plays a vital role in enhancing scene perception, enabling AR visualization, and supporting context-aware decision-making in image-guided surgery. A critical yet challenging step in this…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Remote medical response systems are increasingly being deployed to support emergency care in disaster-affected and infrastructure-limited environments. Enabled by GeoVision capabilities, this paper presents a Digital Twin architecture for…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
The application of self-supervised techniques has become increasingly prevalent within medical visualization tasks, primarily due to its capacity to mitigate the data scarcity prevalent in the healthcare sector. The majority of current…
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of RAMIS is the surgeon's inability to palpate tissues, a crucial technique…
The evolution of decentralized microservice-based systems is challenging. These challenges are classified into static and dynamic categories. Regarding the static perspective, documenting and visualizing the fluid application topology is…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
A significant challenge in image-guided surgery is the accurate measurement task of relevant structures such as vessel segments, resection margins, or bowel lengths. While this task is an essential component of many surgeries, it involves…
Telepresence VR systems allow for face-to-face communication, promoting the feeling of presence and understanding of nonverbal cues. However, when discussing virtual 3D objects, limitations to presence and communication cause deictic…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Cognitive cooperative assistance in robot-assisted surgery holds the potential to increase quality of care in minimally invasive interventions. Automation of surgical tasks promises to reduce the mental exertion and fatigue of surgeons. In…
Multi-task approaches to joint depth and segmentation prediction are well-studied for monocular images. Yet, predictions from a single-view are inherently limited, while multiple views are available in many robotics applications. On the…
Purpose: Trans-oral robotic surgery (TORS) using the da Vinci surgical robot is a new minimally-invasive surgery method to treat oropharyngeal tumors, but it is a challenging operation. Augmented reality (AR) based on intra-operative…