4 papers
Geometry-Consistent Endoscopic Representations for Image-Guided Navigation via Structured Foundation Model Adaptation
Hongchao Shu, Roger D. Soberanis-Mukul, Hao Ding +5
Accurate vision-based navigation in monocular endoscopy is difficult due to limited depth cues, weak tissue texture, non-rigid deformation, and substantial appearance variation acr…
Investigating a Policy-Based Formulation for Endoscopic Camera Pose Recovery
Jan Emily Mangulabnan, Akshat Chauhan, Laura Fleig +7
In endoscopic surgery, surgeons continuously locate the endoscopic view relative to the anatomy by interpreting the evolving visual appearance of the intraoperative scene in the co…
Humanoid Robots as First Assistants in Endoscopic Surgery
Sue Min Cho, Jan Emily Mangulabnan, Han Zhang +7
Humanoid robots have become a focal point of technological ambition, with claims of surgical capability within years in mainstream discourse. These projections are aspirational yet…
BronchOpt : Vision-Based Pose Optimization with Fine-Tuned Foundation Models for Accurate Bronchoscopy Navigation
Hongchao Shu, Roger D. Soberanis-Mukul, Jiru Xu +6
Accurate intra-operative localization of the bronchoscope tip relative to patient anatomy remains challenging due to respiratory motion, anatomical variability, and CT-to-body dive…