Related papers: Computer aided planning and navigation for orbito-…
Effective preoperative planning requires accurate algorithms for segmenting anatomical structures across diverse datasets, but traditional models struggle with generalization. This study presents a novel machine learning methodology to…
This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove…
Many tasks in robot-assisted surgery require planning and controlling manipulators' motions that interact with highly deformable objects. This study proposes a realistic, time-bounded simulator based on Position-based Dynamics (PBD)…
Digital technology plays a crucial role in designing customized medical devices, such as occlusal splints, commonly used in the management of disorders of the stomatognathic system. This methodological proof-of-concept study presents a…
In surgical navigation, finding correspondence between preoperative plan and intraoperative anatomy, the so-called registration task, is imperative. One promising approach is to intraoperatively digitize anatomy and register it with the…
Active surgical robots lack acceptance in clinical practice, because they do not offer the flexibility and usability required for a versatile usage: the systems require a large installation space or a complicated registration step, where…
This paper introduces a hybrid two-stage registration framework for reconstructing three-dimensional (3D) kidney anatomy from macroscopic slices, using CT-derived models as the geometric reference standard. The approach addresses the…
3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…
Computational modeling of the brain has become a key part of understanding how the brain clears metabolic waste, but patient-specific modeling on a significant scale is still out of reach with current methods. We introduce a novel approach…
The current standard of intra-operative navigation during Fenestrated Endovascular Aortic Repair (FEVAR) calls for need of 3D alignments between inserted devices and aortic branches. The navigation commonly via 2D fluoroscopic images, lacks…
Poor adaptation of orbital implants remains a major contributor to postoperative complications and revision surgery. Although preformed orbital plates are widely used to reduce cost and operative time compared with customized implants,…
Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…
Industrial cone-beam X-ray computed tomography (CT) scans of additively manufactured components produce a 3D reconstruction from projection measurements acquired at multiple predetermined rotation angles of the component about a single…
Cranial implant design is a challenging task, whose accuracy is crucial in the context of cranioplasty procedures. This task is usually performed manually by experts using computer-assisted design software. In this work, we propose and…
Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors,…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
This work presents a proof-of-concept solution designed to improve the accuracy of radiographic feature characterisation in pre-surgical CT/MR volumes. The solution involves 3D co-location of 2D digital histology slides within ex-vivo,…