相关论文: SutureBot: A Precision Framework & Benchmark For A…

Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation.…

Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…

Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…

Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing themselves in the numerous intricacies of a surgical…

Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle…

In the modern medical care, venipuncture is an indispensable procedure for both diagnosis and treatment. In this paper, unlike existing solutions that fully or partially rely on professional assistance, we propose VeniBot -- a compact…

Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…

This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We…

Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…

Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…

We present an AI based approach to automate the End-to-end Assessment of Suturing Expertise (EASE), a suturing skills assessment tool that comprehensively defines criteria around relevant sub-skills.1 While EASE provides granular skills…

In this work, we develop an open-source surgical simulation environment that includes a realistic model obtained by MRI-scanning a physical phantom, for the purpose of training and evaluating a Learning from Demonstration (LfD) algorithm…

Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can significantly reduce surgeons' fatigue during tele-operated…

Despite the immense technology advancement in the surgeries the criteria of assessing the surgical skills still remains based on subjective standards. With the advent of robotic-assisted surgery, new opportunities for objective and…

Venipucture is a common step in clinical scenarios, and is with highly practical value to be automated with robotics. Nowadays, only a few on-shelf robotic systems are developed, however, they can not fulfill practical usage due to varied…

Autonomous surgical robots are a promising solution to the increasing demand for surgery amid a shortage of surgeons. Recent work has proposed learning-based approaches for the autonomous manipulation of soft tissue. However, due to…

In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling…

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…

Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in…

Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…