19 accepted papers
Despite rapid commercialization of surgical robots, their autonomy and real-time decision-making remain limited in practice. To address this gap, we propose ArthroCut, an autonomous policy learning framework that upgrades knee arthroplasty robots from assistive execution to context-aware action gene…
Tracking moving anatomical targets with robotic ultrasound is particularly challenging when the target motion is both fast and large in scale, as the end-to-end latency of existing systems prevents the perception–control loop from closing fast enough. In this paper, we argue that overcoming this lim…
In robot-assisted spinal endoscopy, intraoperative imaging is frequently degraded by bleeding, irrigation fluids, bubbles, smoke, and uneven illumination, which can severely compromise surgical precision, safety, and decisionmaking. Accurate identification of anatomical structures is particularly cr…
Soft robots are inherently compliant and safe, making them suitable for humaninteractive applications such as surgery. However, their nonlinear and hysteretic behavior poses significant challenges for accurate modeling and control. We present a soft robotic system and propose a hysteresis-aware whol…
Surgical phase recognition is critical in computer-assisted surgery. Clinically, surgeons discriminate surgical phases through visuospatial analysis of instrument-tissue interactions. However, existing methods fail to adequately account for the critical role of the visual-neural mechanisms of the su
Conventional single-dataset training often fails with new data distributions, especially in ultrasound (US) image analysis due to limited data, acoustic shadows, and speckle noise.Therefore, constructing a universal framework for multi-heterogeneous US datasets is imperative. However, a key challeng…
Contact dynamics critically influence the sim-to-real performance of deformable tissue retraction—a representative contact-rich manipulation task in robotic surgery. The uncertainty in instrument-tissue interactions further complicates its automation. To address these challenges, we propose an archi
Recent studies highlighted a practical setting of unsupervised anomaly detection (UAD) that builds a unified model for multi-class images. Despite various advancements addressing this challenging task, the detection performance under the multi-class setting still lags far behind state-of-the-art cla…
Soft robots are inherently compliant and safe, making them suitable for human-interactive applications such as surgery. However, their nonlinear and hysteretic behavior, arising from the properties of soft materials, presents substantial challenges for accurate modeling and control. In this study, w
Drafting radiology reports is a complex task requiring flexibility, where radiologists tail content to available information and particular clinical demands. However, most current radiology report generation (RRG) models are constrained to a fixed task paradigm, such as predicting the full ''finding…
Bronchoscopy, as an essential minimally invasive diagnostic and therapeutic modality, assumes a pivotal role in the early detection of lung cancer. However, the complex anatomy of the airway and the fixed length of the bronchoscope’s bending segment, along with its external propulsion property, pose…
Soft robots have garnered considerable interest in recent years in terms of structure and functionality, while commercially viable pressure supply systems with various pressure supply modes for soft robots remain slow to progress. Hence, in this work, a palm-sized multi-mode pressure supply system b
Safe human-robot interaction and excellent motion flexibility ensure a wide range of potential applications for soft robots in industry and medicine. Although many efforts have been made to empower soft robots with variable stiffness, solutions for miniaturization, wide-range, and rapid-response sti
The flexible manipulators and related robotic systems have been widely used in minimally invasive surgery (MIS) for enhancing the intraoperative inspection and surgical operation. Although a variety of flexible manipulators using different mechanisms have been developed, most of them are rigid mecha
Soft robotic technologies offer a promising solution for unconstructed applications due to their complete softness, robustness, and flexibility. In this letter, we explore the design and modularization of the flexible pneumatic robotic actuators for applying in minimally invasive surgery or other co
Establishing correspondences between two images requires both local and global spatial context. Given putative correspondences of feature points in two views, in this paper, we propose Order-Aware Network, which infers the probabilities of correspondences being inliers and regresses the relative pos…
We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input voxels into different groups, then conducts 3D sparse convolut…
End effectors of laser ablation systems for minimally invasive surgery are crucial to the performance of integrated laser ablation systems. Due to the constraints imposed by millimeter-sized overall diameter, the designs of laser ablation end effectors are challenging. In this paper, a laser ablatio…