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Background: Trans-spinal FUS (tsFUS) has recently been shown promise in modulating spinal reflexes in rodents, opening new avenues for spinal cord interventions in motor control and pain management. However, anatomical differences between…
Accurate vertebra localization and identification are required in many clinical applications of spine disorder diagnosis and surgery planning. However, significant challenges are posed in this task by highly varying pathologies (such as…
In the field of computer- and robot-assisted minimally invasive surgery, enormous progress has been made in recent years based on the recognition of surgical instruments in endoscopic images and videos. In particular, the determination of…
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,…
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…
Purpose: To enhance time-resolved segmented imaging by synergy of run-time stabilization and retrospective, data-driven phase correction. Methods: A segmented 3D EPI sequence for fMRI time series is equipped with servo navigation based on…
Under conventional "open-" surgery, the physician has to take care of the patient, interact with other clinicians and check several monitoring devices. Nowadays, the Computer Assisted Surgery proposes to integrate 3D cameras in the…
Localizing oneself during endoscopic procedures can be problematic due to the lack of distinguishable textures and landmarks, as well as difficulties due to the endoscopic device such as a limited field of view and challenging lighting…
This paper introduces a novel pipeline designed to bring ultrasound (US) plane pose estimation closer to clinical use for more effective navigation to the standard planes (SPs) in the fetal brain. We propose a semi-supervised segmentation…
Endovascular navigation, essential for diagnosing and treating endovascular diseases, predominantly hinges on fluoroscopic images due to the constraints in sensory feedback. Current shape reconstruction techniques for endovascular…
The Segmented Planar Imaging Detector for Electro-Optical Reconnaissance (SPIDER) is an optical interferometric imaging device that aims to offer an alternative to the large space telescope designs of today with reduced size, weight and…
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the…
Flexible endoscopy requires high skills to manipulate both the endoscope and associated instruments. In most robotic flexible endoscopic systems, the endoscope and instruments are controlled separately by two operators, which may result in…
Vertebral landmark localization is a crucial step for variant spine-related clinical applications, which requires detecting the corner points of 17 vertebrae. However, the neighbor landmarks often disturb each other for the homogeneous…
Vitreoretinal surgery is challenging even for expert surgeons owing to the delicate target tissues and the diminutive workspace in the retina. In addition to improved dexterity and accuracy, robot assistance allows for (partial) task…
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…
The current fusion positioning systems are mainly based on filtering algorithms, such as Kalman filtering or particle filtering. However, the system complexity of practical application scenarios is often very high, such as noise modeling in…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
The high prevalence of spinal stenosis results in a large volume of MRI imaging, yet interpretation can be time-consuming with high inter-reader variability even among the most specialized radiologists. In this paper, we develop an…
Hip and pelvic fractures are serious injuries with life-threatening complications. However, diagnostic errors of fractures in pelvic X-rays (PXRs) are very common, driving the demand for computer-aided diagnosis (CAD) solutions. A major…