52 citations · 110 across the 11 of their papers we have counts for
11 papers
FBG-Based Online Learning and 3-D Shape Control of Unmodeled Continuum and Soft Robots in Unstructured Environments
Yiang Lu, Wei Chen, Bo Lu +4
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Develo…
AutoLaparo: A New Dataset of Integrated Multi-tasks for Image-guided Surgical Automation in Laparoscopic Hysterectomy
Ziyi Wang, Bo Lu, Yonghao Long +4
Computer-assisted minimally invasive surgery has great potential in benefiting modern operating theatres. The video data streamed from the endoscope provides rich information to su…
Model-Free 3D Shape Control of Deformable Objects Using Novel Features Based on Modal Analysis
Bohan Yang, Bo Lu, Wei Chen +2
Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on…
3D Perception based Imitation Learning under Limited Demonstration for Laparoscope Control in Robotic Surgery
Bin Li, Ruofeng Wei, Jiaqi Xu +6
Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking with…
Stereo Dense Scene Reconstruction and Accurate Localization for Learning-Based Navigation of Laparoscope in Minimally Invasive Surgery
Ruofeng Wei, Bin Li, Hangjie Mo +6
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense…
PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks
Jiankai Sun, De-An Huang, Bo Lu +3
In this work, we study the problem of how to leverage instructional videos to facilitate the understanding of human decision-making processes, focusing on training a model with the…
SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning
Jiaqi Xu, Bin Li, Bo Lu +3
Autonomous surgical execution relieves tedious routines and surgeon's fatigue. Recent learning-based methods, especially reinforcement learning (RL) based methods, achieve promisin…
One to Many: Adaptive Instrument Segmentation via Meta Learning and Dynamic Online Adaptation in Robotic Surgical Video
Zixu Zhao, Yueming Jin, Bo Lu +4
Surgical instrument segmentation in robot-assisted surgery (RAS) - especially that using learning-based models - relies on the assumption that training and testing videos are sampl…
Data-driven Holistic Framework for Automated Laparoscope Optimal View Control with Learning-based Depth Perception
Bin Li, Bo Lu, Yiang Lu +2
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding p…
Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery
Yonghao Long, Jie Ying Wu, Bo Lu +5
Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally…
A Learning-Driven Framework with Spatial Optimization For Surgical Suture Thread Reconstruction and Autonomous Grasping Under Multiple Topologies and Environmental Noises
Bo Lu, Wei Chen, Yue-Ming Jin +5
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient.…