相关论文: Speak, Segment, Track, Navigate: An Interactive Sy…
Purpose: Segmentation of surgical instruments in endoscopic videos is essential for automated surgical scene understanding and process modeling. However, relying on fully supervised deep learning for this task is challenging because manual…
Computed tomography (CT) is extensively used for accurate visualization and segmentation of organs and lesions. While deep learning models such as convolutional neural networks (CNNs) and vision transformers (ViTs) have significantly…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
Robot-assisted surgery has made significant progress, with instrument segmentation being a critical factor in surgical intervention quality. It serves as the building block to facilitate surgical robot navigation and surgical education for…
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…
Medical image segmentation plays a pivotal role in clinical diagnostics and treatment planning, yet existing models often face challenges in generalization and in handling both 2D and 3D data uniformly. In this paper, we introduce Medical…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Proficiency in microanastomosis is a critical surgical skill in neurosurgery, where the ability to precisely manipulate fine instruments is crucial to successful outcomes. These procedures require sustained attention, coordinated hand…
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…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Mastering the technical skills required to perform surgery is an extremely challenging task. Video-based assessment allows surgeons to receive feedback on their technical skills to facilitate learning and development. Currently, this…
In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…
Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…
Vision-based surgical navigation has received increasing attention due to its non-invasive, cost-effective, and flexible advantages. In particular, a critical element of the vision-based navigation system is tracking surgical instruments.…
Clinically reliable perception of surgical scenes is essential for advancing intelligent, context-aware intraoperative assistance such as instrument handoff guidance, collision avoidance, and workflow-aware robotic support. Existing…
The Segment Anything Model (SAM) is a powerful vision foundation model that is revolutionizing the traditional paradigm of segmentation. Despite this, a reliance on prompting each frame and large computational cost limit its usage in…
Ultrasound video segmentation is clinically valuable yet difficult due to speckle noise, weak boundaries, and rapid anatomical deformation. Recent promptable foundation models enable point-guided segmentation, but their direct deployment in…
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…
Performing a real-time and accurate instrument segmentation from videos is of great significance for improving the performance of robotic-assisted surgery. We identify two important clues for surgical instrument perception, including local…
Segmentation of organs or lesions from medical images plays an essential role in many clinical applications such as diagnosis and treatment planning. Though Convolutional Neural Networks (CNN) have achieved the state-of-the-art performance…