Related papers: Computer aided planning and navigation for orbito-…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
During neurosurgical operations, surgeons can decide to acquire intraoperative data to better proceed with the removal of a tumor. A valid option is given by ultrasound (US) imaging, which can be easily obtained at subsequent surgical…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…
This study presents a novel approach for reconstructing cone beam computed tomography (CBCT) for specific orbits using known operator learning. Unlike traditional methods, this technique employs a filtered backprojection type (FBP-type)…
Cone-beam computed tomography (CBCT) is an important tool facilitating computer aided interventions, despite often suffering from artifacts that pose challenges for accurate interpretation. While the degraded image quality can affect…
Automated medical prognosis has gained interest as artificial intelligence evolves and the potential for computer-aided medicine becomes evident. Nevertheless, it is challenging to design an effective system that, given a patient's medical…
One of the goals of computer-aided surgery is to match intraoperative data to preoperative images of the anatomy and add complementary information that can facilitate the task of surgical navigation. In this context, mechanical palpation…
The variability in width, height, and spatial orientation of a spinal pedicle makes pedicle screw insertion a delicate operation. The aim of the current paper is to describe a computer-assisted surgical navigation system based on…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
This paper presents a method to reduce the invasiveness of Computer Assisted Orthopaedic Surgery (CAOS) using ultrasound. In this goal, we need to develop a method for 3D/4D ultrasound registration. The premilinary results of this study…
The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
This research proposes a novel adjustable algorithm for reconstructing 3D body shapes from front and side silhouettes. Most recent silhouette-based approaches use a deep neural network trained by silhouettes and key points to estimate the…
Photon-counting CT (PCCT) offers improved diagnostic performance through better spatial and energy resolution, but developing high-quality image reconstruction methods that can deal with these large datasets is challenging. Model-based…
Accurate 3D foot reconstruction is crucial for personalized orthotics, digital healthcare, and virtual fittings. However, existing methods struggle with incomplete scans and anatomical variations, particularly in self-scanning scenarios…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Purpose: Spinal instability is a widespread condition that causes pain, fatigue, and restricted mobility, profoundly affecting patients' quality of life. In clinical practice, the gold standard for diagnosis is dynamic X-ray imaging.…
It is difficult to estimate the midsagittal plane of human subjects with craniomaxillofacial (CMF) deformities. We have developed a LAndmark GEometric Routine (LAGER), which automatically estimates a midsagittal plane for such subjects. The…