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Confocal laser endomicroscopy (CLE) is an advanced optical fluorescence technology undergoing assessment for applications in brain tumor surgery. Despite its promising potential, interpreting the unfamiliar gray tone images of fluorescent…
Intervertebral discs (IVDs), as small joints lying between adjacent vertebrae, have played an important role in pressure buffering and tissue protection. The fully-automatic localization and segmentation of IVDs have been discussed in the…
Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle…
Intraoperative optical imaging is essential for surgical precision and patient safety, but current systems present anatomical and fluorescence information separately, causing delays and increasing cognitive load. A unified system for…
Background: Ultrasound (US) imaging for scoliosis assessment is challenging for a non-experienced operator. The robotic scanning was developed to follow a spinal curvature with deep learning and apply consistent forces to the patient' back.…
Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we propose MIS-SLAM: a complete real-time large scale dense…
Accurate localization and segmentation of intervertebral disc (IVD) is crucial for the assessment of spine disease diagnosis. Despite the technological advances in medical imaging, IVD localization and segmentation are still manually…
Surgical instrument pose estimation provides crucial information for promising applications, including autonomous robotic surgery, skill assessment, and standardization of surgical workflow. However, this task remains highly challenging due…
Image segmentation in the medical domain is a challenging field owing to poor resolution and limited contrast. The predominantly used conventional segmentation techniques and the thresholding methods suffer from limitations because of heavy…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
Computed Tomography (CT) plays an important role in monitoring radiation-induced Pulmonary Fibrosis (PF), where accurate segmentation of the PF lesions is highly desired for diagnosis and treatment follow-up. However, the task is challenged…
Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…
The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between tools and also collisions with the surrounding tissues. Surgical…
Background: Fluorescence angiography has shown very promising results in reducing anastomotic leaks by allowing the surgeon to select optimally perfused tissue. However, subjective interpretation of the fluorescent signal still hinders…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
Fluorescence microscopy is essential to study biological structures and dynamics. However, existing systems suffer from a tradeoff between field-of-view (FOV), resolution, and complexity, and thus cannot fulfill the emerging need of…
Computed Tomography (CT)/X-ray registration in image-guided navigation remains challenging because of its stringent requirements for high accuracy and real-time performance. Traditional "render and compare" methods, relying on iterative…
Arthroscopic procedures can greatly benefit from navigation systems that enhance spatial awareness, depth perception, and field of view. However, existing optical tracking solutions impose strict workspace constraints and disrupt surgical…
To date, brain imaging has largely relied on X-ray computed tomography and magnetic resonance angiography with limited spatial resolution and long scanning times. Fluorescence-based brain imaging in the visible and traditional near-infrared…