5 citations · 12 across the 20 of their papers we have counts for
20 papers
EndoLIFT: Language-Disambiguated Latent-Conditioned Rectified Flow for Bidirectional Endoscopic Control
Chi Kit Ng, Yidong Zhang, Lui Siu Hing +9
Routine gastrointestinal endoscopy is intrinsically bidirectional: the instrument is advanced to reach target anatomy and later withdrawn or retroflexed for inspection, while an ex…
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
Mingwu Su, Guankun Wang, Jinsong Lin +8
Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers…
CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction
Wanhao Liu, Jinsong Lin, Rulin Zhou +11
Visual world models typically learn future dynamics from a single observation stream, limiting their ability to model cooperative systems with multiple independently moving observe…
EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation
Jinsong Lin, Zikang Pan, Wanhao Liu +10
Autonomous endoscopic navigation can reduce clinicians' operational burden, yet robust control remains challenging due to tissue deformation, transient occlusions, and rapidly chan…
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8
Endoscopic retrograde cholangiopancreatography (ERCP) demands precise endoscopic navigation and stable biliary cannulation within a narrow monocular field characterized by specular…
GeoCFNet: Geometry-Aware Confidence Field Network for Robot-Assisted Endoscopic Submucosal Dissection
Rui Tang, Guankun Wang, Long Bai +5
Advanced surgical robotics has made robot-assisted endoscopic submucosal dissection (ESD) a promising approach for the en-bloc resection of large lesions, with the potential to red…
EndoDDC: Learning Sparse to Dense Reconstruction for Endoscopic Robotic Navigation via Diffusion Depth Completion
Yinheng Lin, Yiming Huang, Beilei Cui +4
Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tun…
GeoLanG: Geometry-Aware Language-Guided Grasping with Unified RGB-D Multimodal Learning
Rui Tang, Guankun Wang, Long Bai +6
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains hig…
Unlocking Mixed Reality for Medical Education: A See-Through Perspective on Head Anatomy
Yuqing Wei, Yupeng Wang, Jiayi Zhao +3
Extended reality (XR), encompassing Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR), is emerging as a transformative platform for medical education. Traditiona…
Contact-Aided Navigation of Flexible Robotic Endoscope Using Deep Reinforcement Learning in Dynamic Stomach
Chi Kit Ng, Huxin Gao, Tian-Ao Ren +2
Navigating a flexible robotic endoscope (FRE) through the gastrointestinal tract is critical for surgical diagnosis and treatment. However, navigation in the dynamic stomach is par…
Geo-RepNet: Geometry-Aware Representation Learning for Surgical Phase Recognition in Endoscopic Submucosal Dissection
Rui Tang, Haochen Yin, Guankun Wang +5
Surgical phase recognition plays a critical role in developing intelligent assistance systems for minimally invasive procedures such as Endoscopic Submucosal Dissection (ESD). Howe…
EndoARSS: Adapting Spatially-Aware Foundation Model for Efficient Activity Recognition and Semantic Segmentation in Endoscopic Surgery
Guankun Wang, Rui Tang, Mengya Xu +3
Endoscopic surgery is the gold standard for robotic-assisted minimally invasive surgery, offering significant advantages in early disease detection and precise interventions. Howev…
EndoVLA: Dual-Phase Vision-Language-Action Model for Autonomous Tracking in Endoscopy
Chi Kit Ng, Long Bai, Guankun Wang +6
In endoscopic procedures, autonomous tracking of abnormal regions and following circumferential cutting markers can significantly reduce the cognitive burden on endoscopists. Howev…
ETSM: Automating Dissection Trajectory Suggestion and Confidence Map-Based Safety Margin Prediction for Robot-assisted Endoscopic Submucosal Dissection
Mengya Xu, Wenjin Mo, Guankun Wang +7
Robot-assisted Endoscopic Submucosal Dissection (ESD) improves the surgical procedure by providing a more comprehensive view through advanced robotic instruments and bimanual opera…
PDZSeg: Adapting the Foundation Model for Dissection Zone Segmentation with Visual Prompts in Robot-assisted Endoscopic Submucosal Dissection
Mengya Xu, Wenjin Mo, Guankun Wang +5
Purpose: Endoscopic surgical environments present challenges for dissection zone segmentation due to unclear boundaries between tissue types, leading to segmentation errors where m…
CoPESD: A Multi-Level Surgical Motion Dataset for Training Large Vision-Language Models to Co-Pilot Endoscopic Submucosal Dissection
Guankun Wang, Han Xiao, Huxin Gao +6
submucosal dissection (ESD) enables rapid resection of large lesions, minimizing recurrence rates and improving long-term overall survival. Despite these advantages, ESD is technic…
LighTDiff: Surgical Endoscopic Image Low-Light Enhancement with T-Diffusion
Tong Chen, Qingcheng Lyu, Long Bai +5
Advances in endoscopy use in surgeries face challenges like inadequate lighting. Deep learning, notably the Denoising Diffusion Probabilistic Model (DDPM), holds promise for low-li…
Adapting SAM for Surgical Instrument Tracking and Segmentation in Endoscopic Submucosal Dissection Videos
Jieming Yu, Long Bai, Guankun Wang +4
The precise tracking and segmentation of surgical instruments have led to a remarkable enhancement in the efficiency of surgical procedures. However, the challenge lies in achievin…
OSSAR: Towards Open-Set Surgical Activity Recognition in Robot-assisted Surgery
Long Bai, Guankun Wang, Jie Wang +6
In the realm of automated robotic surgery and computer-assisted interventions, understanding robotic surgical activities stands paramount. Existing algorithms dedicated to surgical…
A Miniature 3-DoF Flexible Parallel Robotic Wrist Using NiTi Wires for Gastrointestinal Endoscopic Surgery
Huxin Gao, Xiao Xiao, Xiaoxiao Yang +4
Gastrointestinal endoscopic surgery (GES) has high requirements for instruments' size and distal dexterity, because of the narrow endoscopic channel and long, tortuous human gastro…