Related papers: Towards MRI-Based Autonomous Robotic US Acquisitio…
Magnetic Resonance Imaging (MRI) has long been considered to be among "the gold standards" of diagnostic medical imaging. The long acquisition times, however, render MRI prone to motion artifacts, let alone their adverse contribution to the…
Ultrasound (US) imaging is commonly used to assist in the diagnosis and interventions of spine diseases, while the standardized US acquisitions performed by manually operating the probe require substantial experience and training of…
3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
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…
Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…
Purpose: The fusion of transrectal ultrasound (TRUS) and magnetic resonance (MR) images for guiding targeted prostate biopsy has significantly improved the biopsy yield of aggressive cancers. A key component of MR-TRUS fusion is image…
We propose a fully automatic method to find standardized view planes in 3D image acquisitions. Standard view images are important in clinical practice as they provide a means to perform biometric measurements from similar anatomical…
In the era of Large Language Models (LLMs), embodied artificial intelligence presents transformative opportunities for robotic manipulation tasks. Ultrasound imaging, a widely used and cost-effective medical diagnostic procedure, faces…
Photoacoustic imaging can achieve high-resolution three-dimensional visualization of optical absorbers at penetration depths ~ 1 cm in biological tissues by detecting optically-induced high ultrasound frequencies. Tomographic acquisition…
Magnetic Resonance Imaging (MRI) offers unparalleled soft-tissue contrast but is fundamentally limited by long acquisition times. While deep learning-based accelerated MRI can dramatically shorten scan times, the reconstruction from…
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.…
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital…
Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, often leading to inconsistent results and increased physical demand on sonographers. Robotic Ultrasound Systems (RUSS) aim to address these…
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this…
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…
3D ultrasound (US) is widely used for its rich diagnostic information. However, it is criticized for its limited field of view. 3D freehand US reconstruction is promising in addressing the problem by providing broad range and freeform scan.…
In this paper, we introduce an autonomous Ultrasonic Sacral Osteotomy (USO) robotic system that integrates an ultrasonic osteotome with a seven-degree-of-freedom (DoF) robotic manipulator guided by an optical tracking system. To assess…
The scoliosis progression in adolescents requires close monitoring to timely take treatment measures. Ultrasound imaging is a radiation-free and low-cost alternative in scoliosis assessment to X-rays, which are typically used in clinical…
Three-dimensional (3D) ultrasound imaging can overcome the limitations of conventional two dimensional (2D) ultrasound imaging in structural observation and measurement. However, conducting volumetric ultrasound imaging for large-sized…