10 accepted papers
Shape control of deformable objects under both rotational and translational deformations is important for versatile robotic applications. However, deformation control with full 6-degree-of-freedom (DoF) manipulation is an open problem, since modeling and describing rotational deformations lead to si
Automated laparoscope field of view (FoV) control in minimal invasive surgery (MIS) poses challenges, as existing solutions failed to address dynamic surgical FoV requirements across different phases and they neglected the misorientation effect or potential obstacles during the control process which
"This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to sequentially update a set of latent variables,e.g., pose, s…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-base…
Smart laparoscope motion control for adjusting surgical field-of-view is an increasingly hot topic in robot-assisted surgery. Previous off-the-shelf methods have been conducted in reactive ways which heavily rely on human input signals, e.g., gaze or voice, thus cannot avoid cognitive burdens to sur
Conventional robot hand-eye calibration methods are impractical for localizing robotic instruments in minimally-invasive surgeries under intra-corporeal workspace after preoperative set-up. In this letter, we present a new approach to autonomously calibrate a robotic instrument relative to a monocul
A major issue for needle insertion into soft tissue during suturing is the induced tissue deformation that hinders the minimization of tip-target positioning error. In this letter, we present a new robot control framework to solve target deviation by integrating active deformation control. We charac
In this letter, we propose a new method to fully control complete 4-image-DoF manipulation of laparoscopic instruments [with remote center of motion (RCM) mechanism] based on the geometric features of a designed marker in a 2-D image. Our marker encodes the configuration of the instruments by comput
In this paper, we address the problem of the image-based 3D pose computation of a semi-circle suturing needle using monocular image feedback for laparoscopy. We propose a constrained two-degree-of-freedom (2-DOF) geometry-based modelling method to parametrise the needle's 6-DOF pose, including depth…
In this paper, we address the 3D position control of RCM-constrained instruments with monocular cameras. To compute the instrument's position from a single 2D image, we develop an innovative gradient descent algorithm which rotates and translates a line segment (over the plane spanned by the imaged