Related papers: Computer aided planning and navigation for orbito-…
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…
Purpose: To develop a multi-criteria optimization framework for image guided radiotherapy. Methods: An algorithm is proposed for a multi-criteria framework for the purpose of patient setup verification decision processes. Optimal patient…
The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of…
This paper addresses an important issue raised for the clinical relevance of Computer-Assisted Surgical applications, namely the methodology used to automatically build patient-specific Finite Element (FE) models of anatomical structures.…
We present for the first time a general 6DoF trajectory planning method that can be used in real-time image guided radiation therapy procedures for robotic stabilization of dynamically moving tumor targets. As the radiation beam is always…
Implementation of real-time, continuous, and three-dimensional imaging (4D intervention guidance) would be a quantum leap for minimally-invasive medicine. It allows guidance during interventions by assessing the spatial position of…
The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…
Accurate compensation of brain deformation is a critical challenge for reliable image-guided neurosurgery, as surgical manipulation and tumor resection induce tissue motion that misaligns preoperative planning images with intraoperative…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…
We propose a novel method for non-rigid 3-D motion correction of orthogonally raster-scanned optical coherence tomography angiography volumes. This is the first approach that aligns predominantly axial structural features like retinal…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Shape optimization is a challenging task in many engineering fields, since the numerical solutions of parametric system may be computationally expensive. This work presents a novel optimization procedure based on reduced order modeling,…
The skeleton of a digital image is a compact representation of its topology, geometry, and scale. It has utility in many computer vision applications, such as image description, segmentation, and registration. However, skeletonization has…
Total knee arthroplasty (TKA) is a common orthopaedic surgery to replace a damaged knee joint with artificial implants. The inaccuracy of achieving the planned implant position can result in the risk of implant component aseptic loosening,…
The MARS scanner is designed for the x-ray spectroscopic study of samples with the aid of computer tomography methods. Computer tomography allows the reconstruction of slices of an investigated sample using a set of shadow projections…
Recent advancements in deep learning for automated image processing and classification have accelerated many new applications for medical image analysis. However, most deep learning applications have been developed using reconstructed,…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…
Biplanar X-ray imaging is widely used in health screening, postoperative rehabilitation evaluation of orthopedic diseases, and injury surgery due to its rapid acquisition, low radiation dose, and straightforward setup. However, 3D volume…