相关论文: Seeing Through Smoke: Surgical Desmoking for Impro…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
This paper presents a comprehensive workflow for generating and validating a synthetic dataset designed for robotic surgery instrument segmentation. A 3D reconstruction of the Da Vinci robotic arms was refined and animated in Autodesk Maya…
We develop an optimization-based method to model smocking, a surface embroidery technique that provides decorative geometric texturing while maintaining stretch properties of the fabric. During smocking, multiple pairs of points on the…
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…
High-resolution imaging is crucial for enhancing visual clarity and enabling precise computer-assisted guidance in minimally invasive surgery (MIS). Despite the increasing adoption of 4K endoscopic systems, there remains a significant gap…
Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force…
Traditional control and task automation have been successfully demonstrated in a variety of structured, controlled environments through the use of highly specialized modeled robotic systems in conjunction with multiple sensors. However, the…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Inspired by the recent success of fully convolutional networks (FCN) in semantic segmentation, we propose a deep smoke segmentation network to infer high quality segmentation masks from blurry smoke images. To overcome large variations in…
Real-world imaging systems acquire measurements that are degraded by noise, optical aberrations, and other imperfections that make image processing for human viewing and higher-level perception tasks challenging. Conventional cameras…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
Surgical smoke severely degrades intraoperative video quality, obscuring anatomical structures and limiting surgical perception. Existing learning-based desmoking approaches rely on scarce paired supervision and deterministic restoration…
Hyperspectral imaging holds promises in surgical imaging by offering biological tissue differentiation capabilities with detailed information that is invisible to the naked eye. For intra-operative guidance, real-time spectral data capture…
Hyperspectral imaging is one of the most promising techniques for intraoperative tissue characterisation. Snapshot mosaic cameras, which can capture hyperspectral data in a single exposure, have the potential to make a real-time…
Endoscopy is the most widely used medical technique for cancer and polyp detection inside hollow organs. However, images acquired by an endoscope are frequently affected by illumination artefacts due to the enlightenment source orientation.…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
Motion estimation for highly dynamic phenomena such as smoke is an open challenge for Computer Vision. Traditional dense motion estimation algorithms have difficulties with non-rigid and large motions, both of which are frequently observed…
Automated endoscopy video analysis is a challenging task in medical computer vision, with the primary objective of assisting surgeons during procedures. The difficulty arises from the complexity of surgical scenes and the lack of a…
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…
As sensing technology proliferates and becomes affordable to the general public, there is a growing trend in citizen science where scientists and volunteers form a strong partnership in conducting scientific research including problem…