相关论文: EndoControlMag: Robust Endoscopic Vascular Motion …

Endoscopic video-based tasks, such as visual navigation and surgical phase recognition, play a crucial role in minimally invasive surgeries by providing real-time assistance. While recent video foundation models have shown promise, their…

Accurate tissue point tracking in endoscopic videos is critical for robotic-assisted surgical navigation and scene understanding, but remains challenging due to complex deformations, instrument occlusion, and the scarcity of dense…

Reconstructing 3D scenes from monocular surgical videos can enhance surgeon's perception and therefore plays a vital role in various computer-assisted surgery tasks. However, achieving scale-consistent reconstruction remains an open…

In robot-assisted minimally invasive surgery, accurate 3D reconstruction from endoscopic video is vital for downstream tasks and improved outcomes. However, endoscopic scenarios present unique challenges, including photometric…

Endoscopic surgery relies on intraoperative video, making image quality a decisive factor for surgical safety and efficacy. Yet, endoscopic videos are often degraded by uneven illumination, tissue scattering, occlusions, and motion blur,…

Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…

Reconstructing deformable tissues from endoscopic videos is essential in many downstream surgical applications. However, existing methods suffer from slow rendering speed, greatly limiting their practical use. In this paper, we introduce…

Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…

Surgical 3D reconstruction is a critical area of research in robotic surgery, with recent works adopting variants of dynamic radiance fields to achieve success in 3D reconstruction of deformable tissues from single-viewpoint videos.…

Video motion magnification could directly highlight subsurface blood vessels in endoscopic video in order to prevent inadvertent damage and bleeding. Applying motion filters to the full surgical image is however sensitive to residual motion…

Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could…

Medical image recognition serves as a key way to aid in clinical diagnosis, enabling more accurate and timely identification of diseases and abnormalities. Vision transformer-based approaches have proven effective in handling various…

Reconstructing soft tissues from stereo endoscope videos is an essential prerequisite for many medical applications. Previous methods struggle to produce high-quality geometry and appearance due to their inadequate representations of 3D…

Reconstructing deformable surgical scenes from endoscopic videos is challenging and clinically important. Recent state-of-the-art methods based on implicit neural representations or 3D Gaussian splatting have made notable progress. However,…

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…

Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…

Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…

In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical outcomes. However, existing methods primarily focus on…

In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic interventions. A novel method is introduced that learns to augment a surgeon's behavior in image space…

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…