相关论文: STITCH 2.0: Extending Augmented Suturing with EKF …
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
Performance optimization is the art of continuous seeking a harmonious mapping between the application domain and hardware. Recent years have witnessed a surge of deep learning (DL) applications in industry. Conventional wisdom for…
Efficient and effective assessment of acute and chronic wounds can help wound care teams in clinical practice to greatly improve wound diagnosis, optimize treatment plans, ease the workload and achieve health related quality of life to the…
Image stitching synthesizes images captured from multiple perspectives into a single image with a broader field of view. The significant variations in object depth often lead to large parallax, resulting in ghosting and misalignment in the…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
Percutaneous dilatational tracheostomy (PDT) is frequently performed on patients in intensive care units for prolonged mechanical ventilation. The needle puncture, as the most critical step of PDT, could lead to adverse consequences such as…
Surgical phase recognition is a key task in computer-assisted surgery, aiming to automatically identify and categorize the different phases within a surgical procedure. Despite substantial advancements, most current approaches rely on fully…
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for automating various suture needle manipulation tasks in the…
We present an algorithm that allows a user within a virtual environment to perform real-time unconstrained cuts or consecutive tears, i.e., progressive, continuous fractures on a deformable rigged and soft-body mesh model in…
An objective measurement of chronic itch is necessary for improvements in patient care for numerous medical conditions. While wearables have shown promise for scratch detection, they are currently unable to estimate scratch intensity,…
Brachytherapy involves bringing a radioactive source near tumor tissue using implanted needles. Image-guided brachytherapy planning requires amongst others, the reconstruction of the needles. Manually annotating these needles on patient…
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…
Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…
Surgical video segmentation is critical for AI to interpret spatial-temporal dynamics in surgery, yet model performance is constrained by limited annotated data. The SAM2 model, pretrained on natural videos, offers potential for zero-shot…
Accurate histopathological diagnosis often requires multiple differently stained tissue sections, a process that is time-consuming, labor-intensive, and environmentally taxing due to the use of multiple chemical stains. Recently, virtual…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…
Robotic knot-tying represents a fundamental challenge in robotics due to the complex interactions between deformable objects and strict topological constraints. We present TWISTED-RL, a framework that improves upon the previous…
Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
Real-time tool segmentation is an essential component in computer-assisted surgical systems. We propose a novel real-time automatic method based on Fully Convolutional Networks (FCN) and optical flow tracking. Our method exploits the…