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Article
Open AccessSurgical-DINO: adapter learning of foundation models for depth estimation in endoscopic surgery
Depth estimation in robotic surgery is vital in 3D reconstruction, surgical navigation and augmented reality visualization. Although the foundation model exhibits outstanding performance in many vision tasks, ...
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Article
Integrated Radial-axial Magnetic Bearing with Variable Permanent-Magnet Bias Flux In Situ
Bias magnetic flux plays a crucial role in the performance of active magnetic bearings. However, the bias flux produced by NdFeB or SmCo materials in traditional permanent-magnet (PM) bias bearings cannot be a...
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Article
Paced-curriculum distillation with prediction and label uncertainty for image segmentation
In curriculum learning, the idea is to train on easier samples first and gradually increase the difficulty, while in self-paced learning, a pacing function defines the speed to adapt the training progress. Whi...
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Article
Domain adaptive Sim-to-Real segmentation of oropharyngeal organs
Video-assisted transoral tracheal intubation (TI) necessitates using an endoscope that helps the physician insert a tracheal tube into the glottis instead of the esophagus. The growing trend of robotic-assiste...
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Article
Transformer-based 3D U-Net for pulmonary vessel segmentation and artery-vein separation from CT images
Transformer-based methods have led to the revolutionizing of multiple computer vision tasks. Inspired by this, we propose a transformer-based network with a channel-enhanced attention module to explore context...
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Article
Design and evaluation of a novel biopsy needle with hemostatic function
Biopsy is a method commonly used for early cancer diagnosis. However, bleeding complications of widely available biopsy are risky for patients. Safer biopsy will result in a more accurate cancer diagnosis and ...
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Article
Task-aware asynchronous multi-task model with class incremental contrastive learning for surgical scene understanding
Surgery scene understanding with tool-tissue interaction recognition and automatic report generation can play an important role in intra-operative guidance, decision-making and postoperative analysis in roboti...
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Article
Flexible Needle Steering with Tethered and Untethered Actuation: Current States, Targeting Errors, Challenges and Opportunities
Accurate needle targeting is critical for many clinical procedures, such as transcutaneous biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the widespread adoption of ...
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Article
Interfacial modification of Na3Zr2Si2PO12 solid electrolyte by femtosecond laser etching
All-solid-state Na battery is one of the most promising batteries because it can solve safety and cost issues of current Li battery simultaneously. In the all-solid-state battery, the interface quality between...
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Chapter
Deployable Parallelogram Mechanism for Generating Remote Centre of Motion Towards Ocular Procedures
This study aims to design and prototype a remote center of motion (RCM) mechanism. The design is a system that incorporates 2 belt-type RCMs (Dual-RCM) in both horizontal and vertical planes. A motor is attach...
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Chapter and Conference Paper
LLCaps: Learning to Illuminate Low-Light Capsule Endoscopy with Curved Wavelet Attention and Reverse Diffusion
Wireless capsule endoscopy (WCE) is a painless and non-invasive diagnostic tool for gastrointestinal (GI) diseases. However, due to GI anatomical constraints and hardware manufacturing limitations, WCE vision ...
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Chapter
Tactile Sensitive Origami Trihexaflexagon Gripper Actuated by Foldable Pneumatic Bellows
The art of folding, popularly known as origami, enables larger-scale structures from unfolding small-dimension structures. Paper folding techniques thus can develop deployable, compact, smaller and simpler str...
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Chapter and Conference Paper
CAT-ViL: Co-attention Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgery
Medical students and junior surgeons often rely on senior surgeons and specialists to answer their questions when learning surgery. However, experts are often busy with clinical and academic work, and have lit...
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Chapter
Kinesthesia Sensorization of Foldable Designs Using Soft Sensors
Foldable and deployable designs have been explored in constraint anatomical procedures in small, confined and constricted spaces. However, there exist unmet needs for kinesthesia sensorization and closed-loop ...
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Chapter
Deployable Kirigami for Intra-Abdominal Monitoring
For measuring intra-vesicle pressure (IVP), Burnett’s method features a fluid column with a pressure transducer attached to a Foley catheter. IVP strongly correlates to the Intra-abdominal pressure (IAP) and c...
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Chapter and Conference Paper
SurgicalGPT: End-to-End Language-Vision GPT for Visual Question Answering in Surgery
Advances in GPT-based large language models (LLMs) are revolutionizing natural language processing, exponentially increasing its use across various domains. Incorporating uni-directional attention, these autor...
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Chapter
Preface and A Brief Guide to the Chapters
Deployable mechanisms (DM) refer to the mechanics of the device actuation that can bring an object from a point, such as outside the body, to another target area, such as inside a body.
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Chapter
Deployable and Interchangeable Telesco** Tubes
Telesco** structures are commonly available in trocar or keyhole procedures, guidewire catheterization procedures and steerable concentric tube robots. We envision a new design involving a combination of hol...
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Chapter and Conference Paper
SAM Meets Robotic Surgery: An Empirical Study on Generalization, Robustness and Adaptation
The Segment Anything Model (SAM) serves as a fundamental model for semantic segmentation and demonstrates remarkable generalization capabilities across a wide range of downstream scenarios. In this empirical s...
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Chapter and Conference Paper
Revisiting Distillation for Continual Learning on Visual Question Localized-Answering in Robotic Surgery
The visual-question localized-answering (VQLA) system can serve as a knowledgeable assistant in surgical education. Except for providing text-based answers, the VQLA system can highlight the interested region ...
