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3D reconstruction of medical images is a key technology in medical image analysis and clinical diagnosis, providing structural visualization support for disease assessment and surgical planning. Traditional methods are computationally…
Reproducibly achieving proper implant alignment is a critical step in total hip arthroplasty (THA) procedures that has been shown to substantially affect patient outcome. In current practice, correct alignment of the acetabular cup is…
We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…
Realistic and parameterized 3D models of human anatomy have become invaluable in research, diagnostics, and surgical planning. However, the development of detailed models for internal organs, such as the stomach, has been limited by data…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
Accurate intra-operative localization of the bronchoscope tip relative to patient anatomy remains challenging due to respiratory motion, anatomical variability, and CT-to-body divergence that cause deformation and misalignment between…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…
Accurate three-dimensional (3D) reconstruction of guidewire shapes is crucial for precise navigation in robot-assisted endovascular interventions. Conventional 2D Digital Subtraction Angiography (DSA) is limited by the absence of depth…
Accurate 3D reconstruction of colonoscopy data, accounting for complex peristaltic movements, is crucial for advanced surgical navigation and retrospective diagnostics. While recent novel view synthesis and 3D reconstruction methods have…
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operator variability, robotic ultrasound systems have gained…
Capsule endoscopy is a novel and non-invasive method for diagnosis, which assists gastroenterologists to monitor the digestive track. Although this new technology has many advantages over the conventional endoscopy, there are weaknesses…
Endovascular surgical tool reconstruction represents an important factor in advancing endovascular tool navigation, which is an important step in endovascular surgery. However, the lack of publicly available datasets significantly restricts…
The reconstruction of an object's shape or surface from a set of 3D points plays an important role in medical image analysis, e.g. in anatomy reconstruction from tomographic measurements or in the process of aligning intra-operative…
We present a novel approach to reconstruction of 3D cardiac motion from sparse intraoperative data. While existing methods can accurately reconstruct 3D organ geometries from full 3D volumetric imaging, they cannot be used during surgical…
Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumption due to persistent soft-tissue deformations, creating a…
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible…
Human organs are composed of interconnected substructures whose geometry and spatial relationships constrain one another. Yet, most deep-learning approaches treat these parts independently, producing anatomically implausible…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
Volumetric ultrasound has the potential to significantly improve diagnostic accuracy and clinical decision-making, yet its widespread adoption remains limited by dependence on specialized hardware and restrictive acquisition protocols. In…