相关论文: STITCH 2.0: Extending Augmented Suturing with EKF …
Histological analysis plays a crucial role in understanding tissue structure and pathology. While recent advancements in registration methods have improved 2D histological analysis, they often struggle to preserve critical 3D spatial…
Vascular anastomosis, the surgical connection of blood vessels, is essential in procedures such as organ transplants and reconstructive surgeries. The precision required limits accessibility due to the extensive training needed, with manual…
This paper introduces an efficient second-order method for solving the elastic net problem. Its key innovation is a computationally efficient technique for injecting curvature information in the optimization process which admits a strong…
In the context of computer assist surgical techniques, a new elastic registration method of 3D meshes is presented. In our applications, one mesh is a high density mesh (30000 vertexes), the second is a low density one (1000 vertexes).…
Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection.…
Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because…
Foundation models are rapidly being developed for computational pathology applications. However, it remains an open question which factors are most important for downstream performance with data scale and diversity, model size, and training…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
This paper presents an effective normal estimation method adopting multi-patch stitching for an unstructured point cloud. The majority of learning-based approaches encode a local patch around each point of a whole model and estimate the…
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that…
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…
Topology optimization (TO) is employed in engineering to optimize structural performance while maximizing material efficiency. However, traditional TO methods incur significant computational and time costs. Although research has leveraged…
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by providing more visual information. In this paper, we…
OBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with…
Accurate counting of surgical instruments in Operating Rooms (OR) is a critical prerequisite for ensuring patient safety during surgery. Despite recent progress of large visual-language models and agentic AI, accurately counting such…
Studying tissue samples obtained during autopsies is the gold standard when diagnosing the cause of death and for understanding disease pathophysiology. Recently, the interest in post mortem minimally invasive biopsies has grown which is a…
Creating high-quality 3D models of clothed humans from single images for real-world applications is crucial. Despite recent advancements, accurately reconstructing humans in complex poses or with loose clothing from in-the-wild images,…
With the accelerating availability of multimodal surgical data and real-time computation, Surgical Digital Twins (SDTs) have emerged as virtual counterparts that mirror, predict, and inform decisions across pre-, intra-, and postoperative…
As the manufacturing industry shifts from mass production to mass customization, there is a growing emphasis on adopting agile, resilient, and human-centric methodologies in line with the directives of Industry 5.0. Central to this…