5 papers
Action-grounded tissue affordance enables anticipatory auto-framing that lowers surgeon cognitive workload during laparoscopic surgery
Jiayu Gu, Yiwei Wang, Jie Zhang +17
In laparoscopy, surgeon gaze tracks where the instruments will act; easing this demand through visual attention modeling requires dense labels of those interaction loci. These enco…
Global Convergence and Error Propagation in Neural Gradient Flows: A Riemannian Optimization Framework
Shixin Zheng, Yiwei Wang, Haizhao Yang
We develop a geometric convergence theory for neural-network optimization within the minimizing movement scheme (MMS) framework. Reformulating each neural MMS step as a minimizatio…
Learning-Based Adaptive Control for Surgical Robotic Exposure Task on Deformable Tissues
Jiayi Liu, Kaiqi Wei, Yiwei Wang +2
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for pr…
Anatomical Prior-Driven Framework for Autonomous Robotic Cardiac Ultrasound Standard View Acquisition
Zhiyan Cao, Zhengxi Wu, Yiwei Wang +5
Cardiac ultrasound diagnosis is critical for cardiovascular disease assessment, but acquiring standard views remains highly operator-dependent. Existing medical segmentation models…
Leveraging Surgical Activity Grammar for Primary Intention Prediction in Laparoscopy Procedures
Jie Zhang, Song Zhou, Yiwei Wang +4
Surgical procedures are inherently complex and dynamic, with intricate dependencies and various execution paths. Accurate identification of the intentions behind critical actions,…