578 citations · 2.5k across the 216 of their papers we have counts for
16 papers · 1 filter
Neural Semantic Map-Learning for Autonomous Vehicles
Markus Herb, Nassir Navab, Federico Tombari
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the…
EyeLS: Shadow-Guided Instrument Landing System for Intraocular Target Approaching in Robotic Eye Surgery
Junjie Yang, Zhihao Zhao, Siyuan Shen +5
Robotic ophthalmic surgery is an emerging technology to facilitate high-precision interventions such as retina penetration in subretinal injection and removal of floating tissues i…
Implicit Neural Representations for Breathing-compensated Volume Reconstruction in Robotic Ultrasound
Yordanka Velikova, Mohammad Farid Azampour, Walter Simson +2
Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter…
SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs
Guangyao Zhai, Xiaoni Cai, Dianye Huang +5
Object rearrangement is pivotal in robotic-environment interactions, representing a significant capability in embodied AI. In this paper, we present SG-Bot, a novel rearrangement f…
Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing
Shervin Dehghani, Michael Sommersperger, Peiyao Zhang +6
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical ar…
MonoGraspNet: 6-DoF Grasping with a Single RGB Image
Guangyao Zhai, Dianye Huang, Shun-Cheng Wu +6
6-DoF robotic grasping is a long-lasting but unsolved problem. Recent methods utilize strong 3D networks to extract geometric grasping representations from depth sensors, demonstra…
Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motion
Zhongliang Jiang, Yuan Gao, Le Xie +1
Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. Ho…
DA Dataset: Toward Dexterity-Aware Dual-Arm Grasping
Guangyao Zhai, Yu Zheng, Ziwei Xu +6
In this paper, we introduce DA, the first large-scale dual-arm dexterity-aware dataset for the generation of optimal bimanual grasping pairs for arbitrary large objects. The da…
Motion-Aware Robotic 3D Ultrasound
Zhongliang Jiang, Hanyu Wang, Zhenyu Li +7
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack…
Autonomous Robotic Screening of Tubular Structures based only on Real-Time Ultrasound Imaging Feedback
Zhongliang Jiang, Zhenyu Li, Matthias Grimm +6
Ultrasound (US) imaging is widely employed for diagnosis and staging of peripheral vascular diseases (PVD), mainly due to its high availability and the fact it does not emit radiat…
RGB-D SLAM with Structural Regularities
Yanyan Li, Raza Yunus, Nikolas Brasch +2
This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that a…
Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments
Yanyan Li, Nikolas Brasch, Yida Wang +2
In this paper a low-drift monocular SLAM method is proposed targeting indoor scenarios, where monocular SLAM often fails due to the lack of textured surfaces. Our approach decouple…
Model-Based Compensation of Moving Tissue for State Recognition in Robotic-Assisted Pedicle Drilling
Zhongliang Jiang, Long Lei, Yu Sun +5
Drilling is one of the hardest parts of pedicle screw fixation, and it is one of the most dangerous operations because inaccurate screw placement would injury vital tissues, partic…
On the Effectiveness of Virtual Reality-based Training for Robotic Setup
Arian Mehrfard, Javad Fotouhi, Tess Forster +5
Virtual Reality (VR) is rapidly increasing in popularity as a teaching tool. It allows for the creation of a highly immersive, three-dimensional virtual environment intended to sim…
Pivot calibration concept for sensor attached mobile c-arms
Sing Chun Lee, Matthias Seibold, Philipp Fürnstahl +2
Medical augmented reality has been actively studied for decades and many methods have been proposed torevolutionize clinical procedures. One example is the camera augmented mobile…
Reflective-AR Display: An Interaction Methodology for Virtual-Real Alignment in Medical Robotics
Javad Fotouhi, Tianyu Song, Arian Mehrfard +8
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasi…