16 accepted papers
In recent years, the area of Robot-Assisted Minimally Invasive Surgery (RAMIS) is standing on the the verge of a new wave of innovations. However, autonomy in RAMIS is still in a primitive stage. Therefore, most surgeries still require manual control of the endoscope and the robotic instruments, res…
In recent years, Robot-Assisted Minimally Invasive Surgery (RAMIS) has been widely adopted worldwide due to its high precision, improved ergonomics and intuitive control. With the advances in artificial intelligence and surgical robot technologies, it is anticipated that the cognitive load on the su
Human movement intention recognition is important for human-robot interaction. Existing work based on motor imagery electroencephalogram (EEG) provides a non-invasive and portable solution for intention detection. However, the data-driven methods may suffer from the limited scale and diversity of th…
The ubiquitous presence of three types of delay in robotic teleoperation systems, i.e., computation delay, transmission delay, and mechanical delay, is the major factor of the system degradation. It is noticeable that the transmission latency over the communication network shows a periodic trend due
In endoluminal surgery, the miniature instruments shall be of high accuracy and flexibility for minimal invasive diagnosis and surgical intervention. To this end, continuum robots with flexible joints have been proposed as the mechanism of endoscopic instruments. The compliance and deformability of…
In this letter, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the real world can be transferred to assist visually impaired peo
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the surgical sub tasks for the construction of the shared control m…
"Machine learning models fail to perform well on real-world applications when 1) the category distribution P(Y) of the training dataset suffers from long-tailed distribution and 2) the test data is drawn from different conditional distributions P(X|Y). Existing approaches cannot handle the scenario…
Research on generating or processing point clouds has become an increasingly popular domain in robotic research due to its extensive applications, such as robotic grasping, augmented reality and autonomous vehicle navigation. In this paper, we explore a new research area on point clouds - Learning t…
Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility assistance for people with disability. In this work, a new egoc…
In Robot-Assisted Minimally Invasive Surgery (RAMIS), a camera assistant is normally required to control the position and the zooming ratio of the laparoscope, following the surgeon’s instructions. However, moving the laparoscope frequently may lead to unstable and suboptimal views, while the adjust…
Minimally invasive surgery mainly consists of a series of sub-tasks, which can be decomposed into basic gestures or contexts. As a prerequisite of autonomic operation, surgical gesture recognition can assist motion planning and decision-making, and build up context-aware knowledge to improve the sur…
Gastrointestinal (GI) endoscopy is a conventional and prevalent procedure used to diagnose and treat diseases in the digestive tract. This procedure requires inserting an endoscope equipped with a camera and instruments inside a patient to the target of interest. To manoeuvre the endoscope, an endos…
The assessment of microsurgical skills for Robot-Assisted Microsurgery (RAMS) still relies primarily on subjective observations and expert opinions. A general and automated evaluation method is desirable. Deep neural networks can be used for skill assessment through raw kinematic data, which has the
The recent development of Robot-Assisted Minimally Invasive Surgery (RAMIS) has brought much benefit to ease the performance of complex Minimally Invasive Surgery (MIS) tasks and lead to more clinical outcomes. Compared to direct master-slave manipulation, semi-autonomous control for the surgical ro…
Personalized stent graft is designed to treat Abdominal Aortic Aneurysms (AAA). Due to the individual difference in arterial structures, stent graft has to be custom made for each AAA patient. Robotic platforms for autonomous personalized stent graft manufacturing have been proposed in recently whic…