6 papers
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…
TMR-VLA:Vision-Language-Action Model for Magnetic Motion Control of Tri-leg Silicone-based Soft Robot
Ruijie Tang, Chi Kit Ng, Kaixuan Wu +5
In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and ther…
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…
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…
Head Pose Estimation and 3D Neural Surface Reconstruction via Monocular Camera in situ for Navigation and Safe Insertion into Natural Openings
Ruijie Tang, Beilei Cui, Hongliang Ren
As the significance of simulation in medical care and intervention continues to grow, it is anticipated that a simplified and low-cost platform can be set up to execute personalize…