相关论文: BronchOpt : Vision-Based Pose Optimization with Fi…

Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…

Accurate and consistent mental interpretation of fluoroscopy to determine the position and orientation of acetabular bone fragments in 3D space is difficult. We propose a computer assisted approach that uses a single fluoroscopic view and…

Objective: Depth estimation is crucial for endoscopic navigation and manipulation, but obtaining ground-truth depth maps in real clinical scenarios, such as the colon, is challenging. This study aims to develop a robust framework that…

In obstetric ultrasound (US) scanning, the learner's ability to mentally build a three-dimensional (3D) map of the fetus from a two-dimensional (2D) US image represents a significant challenge in skill acquisition. We aim to build a US…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

State-of-the-art vessel segmentation methods typically require large-scale annotated datasets and suffer from severe performance degradation under domain shifts. In clinical practice, however, acquiring extensive annotations for every new…

CT-based bronchial tree analysis plays an important role in the computer-aided diagnosis for respiratory diseases, as it could provide structured information for clinicians. The basis of airway analysis is bronchial tree reconstruction,…

Mandibular reconstruction with vascularized bone grafts is complicated by donor-host nonunion, and current virtual surgical planning produces a geometric plan rather than a configuration that explicitly promotes bone union. We present…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

Video capsule endoscopy is a hot topic in computer vision and medicine. Deep learning can have a positive impact on the future of video capsule endoscopy technology. It can improve the anomaly detection rate, reduce physicians' time for…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

Our ability to train end-to-end systems for 3D human pose estimation from single images is currently constrained by the limited availability of 3D annotations for natural images. Most datasets are captured using Motion Capture (MoCap)…

Current approaches in 3D human pose estimation primarily focus on regressing 3D joint locations, often neglecting critical physical constraints such as bone length consistency and body symmetry. This work introduces a recurrent neural…

During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…

The one of the significant challenges faced by autonomous robotic ultrasound systems is acquiring high-quality images across different patients. The proper orientation of the robotized probe plays a crucial role in governing the quality of…

This study tackles key obstacles in adopting surgical navigation in orthopedic surgeries, including time, cost, radiation, and workflow integration challenges. Recently, our work X23D showed an approach for generating 3D anatomical models…

Most of the existing 3D human pose estimation approaches mainly focus on predicting 3D positional relationships between the root joint and other human joints (local motion) instead of the overall trajectory of the human body (global…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Object pose estimation is essential to many industrial applications involving robotic manipulation, navigation, and augmented reality. Current generalizable object pose estimators, i.e., approaches that do not need to be trained per object,…