12 accepted papers
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising solution to overcome this challenge. Numerous studies have
This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D is developed as a complete navigation system based on intra-operative imaging systems (fluoroscopic X-ray in this study
This paper reports on a new real-time robotcentered 3D-2D vascular image alignment algorithm, which is robust to outliers and can align nonrigid shapes. Few works have managed to achieve both real-time and accurate performance for vascular intervention robots. This work bridges high-accuracy 3D-2D r…
This letter develops a new vascular respiratory motion compensation algorithm, Motion-Related Compensation (MRC), to conduct vascular respiratory motion compensation by extrapolating the correlation between invisible vascular and visible non-vascular. Robot-assisted vascular intervention can signifi
Semi-Definite Programming (SDP) with low-rank prior has been widely applied in Non-Rigid Structure from Motion (NRSfM). A low-rank constraint avoids the inherent ambiguity of the basis number selection in conventional base-shape or base-trajectory methods. Despite SDP-based NRSfM’s efficiency, it re
This letter proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images’ geometric constraints. The camera is localized using a single or few observed images and training images with 6-degree-o
This paper reports on a new 3D point cloud-based place recognition framework that uses SE(3)-equivariant networks to learn SE(3)-invariant global descriptors. We discover that, unlike existing methods, learned SE(3)-invariant global descriptors are more robust to matching inaccuracy and failure in s…
Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic autonomy, most existing SLAM works are evaluated with data sequence…
Embedded deformation graph is a widely used technique in deformable geometry and graphical problems. Although the technique has been transmitted to stereo (or RGB-D) camera based SLAM applications, it remains challenging to compromise the computational cost as the model grows. In practice, the proce…
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This letter proposes an innovative Simultaneous localization and mapping (SLAM) algorithm for deformable dense reconstruction of surfaces using a sequen
Real-time simultaneous localization and dense mapping is very helpful for providing virtual reality and augmented reality for surgeons or even surgical robots. In this letter, we propose MIS-SLAM: A complete real-time large-scale dense deformable SLAM system with stereoscope in minimal invasive surg
In this letter, we investigate the convergence and consistency properties of an invariant-extended Kalman filter (RI-EKF) based simultaneous localization and mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs do not require the restrictive assumption th