相关论文: STITCH 2.0: Extending Augmented Suturing with EKF …
Purpose: This research aims to facilitate the use of state-of-the-art computer vision algorithms for the automated training of surgeons and the analysis of surgical footage. By estimating 2D hand poses, we model the movement of the…
For robot-assisted surgery, an accurate surgical report reflects clinical operations during surgery and helps document entry tasks, post-operative analysis and follow-up treatment. It is a challenging task due to many complex and diverse…
The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a…
Purpose: Tissue tracking is critical for downstream tasks in robot-assisted surgery. The Sparse Efficient Neural Depth and Deformation (SENDD) model has previously demonstrated accurate and real-time sparse point tracking, but struggled…
Surgical video segmentation is a critical task in computer-assisted surgery and is vital for enhancing surgical quality and patient outcomes. Recently, the Segment Anything Model 2 (SAM2) framework has shown superior advancements in image…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
Segmentation of surgical instruments is an important problem in robot-assisted surgery: it is a crucial step towards full instrument pose estimation and is directly used for masking of augmented reality overlays during surgical procedures.…
We present the AMPS algorithm, a finite element solution method that combines principal submatrix updates and Schur complement techniques, well-suited for interactive simulations of deformation and cutting of finite element meshes. Our…
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
We show in this work that memory intensive computations can result in severe performance problems due to off-chip memory access and CPU-GPU context switch overheads in a wide range of deep learning models. For this problem, current…
Recently, joint registration and segmentation has been formulated in a deep learning setting, by the definition of joint loss functions. In this work, we investigate joining these tasks at the architectural level. We propose a registration…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Objective: Surgical activity recognition is a fundamental step in computer-assisted interventions. This paper reviews the state-of-the-art in methods for automatic recognition of fine-grained gestures in robotic surgery focusing on recent…
Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Needle shape, diameter, and path are critical parameters that directly affect suture depth and tissue trauma in autonomous suturing. This paper presents an optimization-based approach to specify these parameters. Given clinical suturing…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…
This paper introduces the ``SurgT: Surgical Tracking" challenge which was organised in conjunction with MICCAI 2022. There were two purposes for the creation of this challenge: (1) the establishment of the first standardised benchmark for…