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1909.05405
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SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics
IEEE Robotics and Automation Letters (RA-L), 2019
11 September 2019
Yang Li
Florian Richter
Jingpei Lu
E. Funk
Ryan K. Orosco
Jianke Zhu
Michael C. Yip
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Papers citing
"SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics"
50 / 62 papers shown
Unifying Scale-Aware Depth Prediction and Perceptual Priors for Monocular Endoscope Pose Estimation and Tissue Reconstruction
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Enzo Kerkhof
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Junlei Hu
Gerardo Loza Galindo
Sharib Ali
Duygu Sarikaya
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Dominic Jones
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11 Aug 2025
SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Vision
IEEE International Conference on Robotics and Automation (ICRA), 2025
Utsav Rai
Haozheng Xu
Stamatia Giannarou
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253
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16 May 2025
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation
Shuyuan Yang
Zonghe Chua
153
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13 May 2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks
IEEE International Conference on Robotics and Automation (ICRA), 2025
Masoud Moghani
Nigel Nelson
Mohamed Ghanem
Andres Diaz-Pinto
Kush Hari
Mahdi Azizian
Ken Goldberg
Sean Huver
Animesh Garg
195
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21 Apr 2025
LiteTracker: Leveraging Temporal Causality for Accurate Low-latency Tissue Tracking
International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2025
Mert Asim Karaoglu
Wenbo Ji
Ahmed Abbas
Nassir Navab
Benjamin Busam
A. Ladikos
247
2
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14 Apr 2025
Feature-EndoGaussian: Feature Distilled Gaussian Splatting in Surgical Deformable Scene Reconstruction
Kai Li
Junhao Wang
William Jongwon Han
Ding Zhao
3DGS
378
0
0
08 Mar 2025
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments
Zekai Liang
Zih-Yun Chiu
Florian Richter
Michael C. Yip
MedIm
177
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07 Mar 2025
SurgRIPE challenge: Benchmark of Surgical Robot Instrument Pose Estimation
Haozheng Xu
Alistair Weld
Chi Xu
Alfie Roddan
João Cartucho
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Young-Gon Kim
Lucy Fothergill
Dominic Jones
Pietro Valdastri
Duygu Sarikaya
243
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06 Jan 2025
SurgicalGS: Dynamic 3D Gaussian Splatting for Accurate Robotic-Assisted Surgical Scene Reconstruction
Jianfei Chen
Xin Zhang
Mobarakol Islam
Francisco Vasconcelos
Danail Stoyanov
Daniel Elson
Baoru Huang
3DGS
225
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0
11 Oct 2024
Tracking Everything in Robotic-Assisted Surgery
IEEE International Conference on Robotics and Automation (ICRA), 2024
Bohan Zhan
Wang Zhao
Yi Fang
Bo Du
Francisco Vasconcelos
Danail Stoyanov
Daniel Elson
Baoru Huang
293
5
0
29 Sep 2024
Towards Robust Automation of Surgical Systems via Digital Twin-based Scene Representations from Foundation Models
Hao Ding
Lalithkumar Seenivasan
Hongchao Shu
Grayson Byrd
Han Zhang
Pu Xiao
Juan Antonio Barragan
Russell H. Taylor
Peter Kazanzides
Mathias Unberath
215
10
0
19 Sep 2024
BodySLAM: A Generalized Monocular Visual SLAM Framework for Surgical Applications
G. Manni
C. Lauretti
F. Prata
R. Papalia
L. Zollo
P. Soda
3DGS
MDE
200
7
0
06 Aug 2024
SurgicalGaussian: Deformable 3D Gaussians for High-Fidelity Surgical Scene Reconstruction
Weixing Xie
Junfeng Yao
Xianpeng Cao
Qiqin Lin
Zerui Tang
Xiao Dong
Xiaohu Guo
3DGS
219
15
0
06 Jul 2024
EndoSparse: Real-Time Sparse View Synthesis of Endoscopic Scenes using Gaussian Splatting
Chenxin Li
Brandon Yushan Feng
Yifan Liu
Hengyu Liu
Cheng Wang
Weihao Yu
Yixuan Yuan
3DGS
203
27
0
01 Jul 2024
LGS: A Light-weight 4D Gaussian Splatting for Efficient Surgical Scene Reconstruction
Hengyu Liu
Yifan Liu
Chenxin Li
Wenbo Li
Yixuan Yuan
3DGS
342
40
0
23 Jun 2024
Improving the realism of robotic surgery simulation through injection of learning-based estimated errors
Juan Antonio Barragan
Hisashi Ishida
Adnan Munawar
Peter Kazanzides
210
2
0
11 Jun 2024
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments
Nikhil Shinde
Xiao Liang
Fei Liu
Yutong Zhang
Florian Richter
Sylvia Herbert
Michael C. Yip
183
10
0
16 May 2024
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Masoud Moghani
Lars Doorenbos
Will Panitch
Sean Huver
Mahdi Azizian
Ken Goldberg
Animesh Garg
266
12
0
08 May 2024
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil Shinde
Zih-Yun Chiu
Florian Richter
Jason Lim
Yuheng Zhi
Sylvia Herbert
Michael C. Yip
157
4
0
29 Mar 2024
Neural Fields for 3D Tracking of Anatomy and Surgical Instruments in Monocular Laparoscopic Video Clips
Beerend G. A. Gerats
J. Wolterink
Seb P. Mol
I. A. Broeders
207
4
0
28 Mar 2024
Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adaptive-Template Matching
IEEE International Conference on Robotics and Automation (ICRA), 2024
Jiaxin Guo
Jiangliu Wang
Zhaoshuo Li
Tongyu Jia
Qi Dou
Yao Xiao
MedIm
227
2
0
11 Mar 2024
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
IEEE International Conference on Robotics and Automation (ICRA), 2024
Christopher DÁmbrosia
Florian Richter
Zih-Yun Chiu
Nikhil Shinde
Fei Liu
Henrik I. Christensen
Michael C. Yip
134
5
0
08 Mar 2024
EndoGaussians: Single View Dynamic Gaussian Splatting for Deformable Endoscopic Tissues Reconstruction
Yangsen Chen
Hao Wang
3DGS
153
7
0
24 Jan 2024
EndoGaussian: Real-time Gaussian Splatting for Dynamic Endoscopic Scene Reconstruction
Yifan Liu
Chenxin Li
Chen Yang
Yixuan Yuan
3DGS
200
19
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23 Jan 2024
EndoGS: Deformable Endoscopic Tissues Reconstruction with Gaussian Splatting
Lingting Zhu
Zhao Wang
Jiahao Cui
Zhenchao Jin
Guying Lin
Lequan Yu
3DGS
273
44
0
21 Jan 2024
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors
IEEE International Conference on Robotics and Automation (ICRA), 2024
Uksang Yoo
Ziven Lopez
Jeffrey Ichnowski
Jean Oh
223
10
0
17 Jan 2024
Efficient Deformable Tissue Reconstruction via Orthogonal Neural Plane
Chen Yang
Kai Wang
Yuehao Wang
Qi Dou
Yunbo Wang
Wei Shen
164
25
0
23 Dec 2023
Tracking and Mapping in Medical Computer Vision: A Review
Adam Schmidt
Omid Mohareri
S. DiMaio
Michael C. Yip
Septimiu E. Salcudean
302
51
0
17 Oct 2023
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
Samuel Schmidgall
Axel Krieger
Nhan Duy Truong
OOD
296
23
0
07 Oct 2023
Surgical Tattoos in Infrared: A Dataset for Quantifying Tissue Tracking and Mapping
IEEE Transactions on Medical Imaging (TMI), 2023
Adam Schmidt
Omid Mohareri
S. DiMaio
Septimiu E. Salcudean
234
12
0
28 Sep 2023
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation Data
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Sha Lin
Albert J. Miao
Ali Alabiad
Fei Liu
Kaiyuan Wang
Jingpei Lu
Florian Richter
Michael C. Yip
342
3
0
25 Sep 2023
RIDE: Self-Supervised Learning of Rotation-Equivariant Keypoint Detection and Invariant Description for Endoscopy
IEEE International Conference on Robotics and Automation (ICRA), 2023
Mert Asim Karaoglu
Viktoria Markova
Nassir Navab
Benjamin Busam
A. Ladikos
195
7
0
18 Sep 2023
SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Alison Bartsch
Charlotte Avra
A. Farimani
3DPC
AI4CE
221
14
0
15 Sep 2023
EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope Videos
International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2023
Ruyi Zha
Xuelian Cheng
Hongdong Li
Mehrtash Harandi
Zongyuan Ge
MedIm
186
79
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21 Jul 2023
Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation using Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2023
Yafei Ou
Mahdi Tavakoli
121
26
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Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy
Fangxun Zhong
Yao Xiao
112
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SENDD: Sparse Efficient Neural Depth and Deformation for Tissue Tracking
International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2023
Adam Schmidt
Omid Mohareri
S. DiMaio
Septimiu E. Salcudean
MedIm
134
14
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10 May 2023
SemHint-MD: Learning from Noisy Semantic Labels for Self-Supervised Monocular Depth Estimation
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Yuheng Zhi
Michael C. Yip
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150
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Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
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Jingpei Lu
Florian Richter
Michael C. Yip
178
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Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jingpei Lu
Fei Liu
C. Girerd
Michael C. Yip
181
26
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A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research
Z. Chua
Allison M. Okamura
83
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10 Nov 2022
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking
IEEE International Conference on Robotics and Automation (ICRA), 2022
Shan Lin
Albert J. Miao
Jingpei Lu
Shunkai Yu
Zih-Yun Chiu
Florian Richter
Michael C. Yip
206
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29 Oct 2022
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
IEEE International Conference on Robotics and Automation (ICRA), 2022
Zih-Yun Chiu
Florian Richter
Michael C. Yip
78
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21 Oct 2022
Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery
International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2022
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Yonghao Long
Siu Hin Fan
Qingxu Dou
MedIm
209
175
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30 Jun 2022
Image Based Reconstruction of Liquids from 2D Surface Detections
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Ryan K. Orosco
Michael C. Yip
131
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Learning from Demonstrations for Autonomous Soft-tissue Retraction
Ameya Pore
E. Tagliabue
Marco Piccinelli
Diego DallÁlba
A. Casals
Paolo Fiorini
227
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Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Zih-Yun Chiu
Albert Z Liao
Florian Richter
Bjorn A. Johnson
Michael C. Yip
159
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International Symposium on Medical Robotics (ISMR), 2021
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Won Seo Park
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123
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Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
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Davide Corsi
Enrico Marchesini
Diego DallÁlba
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176
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06 Sep 2021
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