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Applying machine learning technologies, especially deep learning, into medical image segmentation is being widely studied because of its state-of-the-art performance and results. It can be a key step to provide a reliable basis for clinical…
Neuronavigation is widely used in biomedical research and interventions to guide the precise placement of instruments around the head to support procedures such as transcranial magnetic stimulation. Traditional systems, however, rely on…
This paper presents an approach to teleoperate a manipulator using a mobile phone as a leader device. Using its IMU and camera, the phone estimates its Cartesian pose which is then used to to control the Cartesian pose of the robot's tool.…
We investigate the design of an entire mobile imaging system for early detection of melanoma. Different from previous work, we focus on smartphone-captured visible light images. Our design addresses two major challenges. First, images…
A significant challenge in image-guided surgery is the accurate measurement task of relevant structures such as vessel segments, resection margins, or bowel lengths. While this task is an essential component of many surgeries, it involves…
In minimally invasive endovascular procedures, contrast-enhanced angiography remains the most robust imaging technique. However, it is at the expense of the patient and clinician's health due to prolonged radiation exposure. As an…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
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…
Recording surgery in operating rooms is an essential task for education and evaluation of medical treatment. However, recording the desired targets, such as the surgery field, surgical tools, or doctor's hands, is difficult because the…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
Medical imaging plays an important role in the medical sector in identifying diseases. X-ray, computed tomography (CT) scans, and magnetic resonance imaging (MRI) are a few examples of medical imaging. Most of the time, these imaging…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
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…
The wide spread of mobiles as handheld devices leads to various innovative applications that makes use of their ever increasing presence in our daily life. One such application is location tracking and monitoring. This paper proposes a…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Due to the mass advancement in ubiquitous technologies nowadays, new pervasive methods have come into the practice to provide new innovative features and stimulate the research on new human-computer interactions. This paper presents a hand…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
During the process of robot-assisted ultrasound(US) puncture, it is important to estimate the location of the puncture from the 2D US images. To this end, the calibration of the US image becomes an important issue. In this paper, we…
Medical images constitute a source of information essential for disease diagnosis, treatment and follow-up. In addition, due to its patient-specific nature, imaging information represents a critical component required for advancing…
Performing minimal-invasive surgical punctures require guiding a needle toward an intracorporeal clinically-defined target. As this technique does not involve cutting the body open, a visualization system is employed to provide the surgeon…