5 papers
Seeing Through Smoke: Surgical Desmoking for Improved Visual Perception
Jingpei Lu, Fengyi Jiang, Xiaorui Zhang +2
Minimally invasive and robot-assisted surgery relies heavily on endoscopic imaging, yet surgical smoke produced by electrocautery and vessel-sealing instruments can severely degrad…
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
Shan Lin, Albert J. Miao, Ali Alabiad +5
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mit…
SurgiSR4K: A High-Resolution Endoscopic Video Dataset for Robotic-Assisted Minimally Invasive Procedures
Fengyi Jiang, Xiaorui Zhang, Lingbo Jin +11
High-resolution imaging is crucial for enhancing visual clarity and enabling precise computer-assisted guidance in minimally invasive surgery (MIS). Despite the increasing adoption…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…
BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields
Shreya Saha, Zekai Liang, Shan Lin +3
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It…