相关论文: Exploring Accelerated Skill Acquisition via Tandem…
Colonoscopy is a gold standard procedure but is highly operator-dependent. Automated polyp segmentation, a precancerous precursor, can minimize missed rates and timely treatment of colon cancer at an early stage. Even though there are deep…
Understanding 2D cross-sections of 3D structures is a crucial skill in many disciplines, from geology to medical imaging. Cross-section inference in the context of 3D structures requires a complex set of spatial/visualization skills…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Recently, the robotic ultrasound system has become an emerging topic owing to the widespread use of medical ultrasound. However, it is still a challenging task to model and to transfer the ultrasound skill from an ultrasound physician. In…
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…
Scaling CNN training is necessary to keep up with growing datasets and reduce training time. We also see an emerging need to handle datasets with very large samples, where memory requirements for training are large. Existing training…
The ability to dynamically extend a model to new data and classes is critical for multiple organ and tumor segmentation. However, due to privacy regulations, accessing previous data and annotations can be problematic in the medical domain.…
CNN-based object detection models that strike a balance between performance and speed have been gradually used in polyp detection tasks. Nevertheless, accurately locating polyps within complex colonoscopy video scenes remains challenging…
Colonoscopic video retrieval, which is a critical part of polyp treatment, has great clinical significance for the prevention and treatment of colorectal cancer. However, retrieval models trained on action recognition datasets usually…
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the…
Surgical workflow analysis is of importance for understanding onset and persistence of surgical phases and individual tool usage across surgery and in each phase. It is beneficial for clinical quality control and to hospital administrators…
Colorectal endoscopy is important for the early detection and treatment of colorectal cancer and is used worldwide. A computer-aided diagnosis (CAD) system that provides an objective measure to endoscopists during colorectal endoscopic…
Incorporating a robotic manipulator into a wheel-legged robot enhances its agility and expands its potential for practical applications. However, the presence of potential instability and uncertainties presents additional challenges for…
Colonoscopy is currently one of the most sensitive screening methods for colorectal cancer. This study investigates the frontiers of intelligent colonoscopy techniques and their prospective implications for multimodal medical applications.…
Observations from ground based telescopes are affected by the presence of the Earth atmosphere, which severely perturbs them. The use of adaptive optics techniques has allowed us to partly beat this limitation. However, image selection or…
Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective control policies remains a challenge. While recent work has relied on imitation learning, obtaining high quality demonstrations for…
Early screening via colonoscopy is critical for colon cancer prevention, yet developing robust AI systems for this domain is hindered by the lack of densely annotated, long-sequence video datasets. Existing datasets predominantly focus on…
Purpose: Real-time surgical tool tracking is a core component of the future intelligent operating room (OR), because it is highly instrumental to analyze and understand the surgical activities. Current methods for surgical tool tracking in…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…
We need to look at our shoelaces as we first learn to tie them but having mastered this skill, can do it from touch alone. We call this phenomenon "sensory scaffolding": observation streams that are not needed by a master might yet aid a…