相关论文: Open-Source Multi-Viewpoint Surgical Telerobotics
Touchless interaction with medical images is becoming increasingly important in the surgical field, where sterility and continuity of the operational workflow are essential requirements. This work presents a vision-based system for…
Reliable visual understanding in robot-assisted and minimally invasive surgery (RMIS/MIS) demands more than accurate masks: in clinical practice, clinicians pose language-like questions about procedural context, visibility, artefacts, and…
Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision and efficiency: small MSF enables delicate manipulation but…
Robotic surgery has reached a high level of maturity and has become an integral part of standard surgical care. However, existing surgeon consoles are bulky, take up valuable space in the operating room, make surgical team coordination…
Fluoroscopic X-ray guidance is a cornerstone for percutaneous orthopaedic surgical procedures. However, two-dimensional observations of the three-dimensional anatomy suffer from the effects of projective simplification. Consequently, many…
The science and clinical practice of medical physics has been integral to the advancement of radiology and radiation therapy for over a century. In parallel, advances in surgery - including intraoperative imaging, registration, and other…
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
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…
Remote VR teleoperation with supernumerary robotic limbs enables distant users to operate in another's local space. While a shared first-person view aids hand-eye coordination, locking the guest's camera to the host's head can degrade…
Purpose: The goal of this work is to use multi-camera video to classify open surgery tools as well as identify which tool is held in each hand. Multi-camera systems help prevent occlusions in open surgery video data. Furthermore, combining…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
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…
Recent advances in imitation learning have shown great promise for developing robust robot manipulation policies from demonstrations. However, this promise is contingent on the availability of diverse, high-quality datasets, which are not…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability to sense, interpret, and respond to changes during…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…
There is a strong demand for virtual reality (VR) to bring quality healthcare to underserved populations. This paper addresses this need with the design and prototype of SURVIVRS: Surround Video-Based Virtual Reality for Surgery Guidance.…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…