Related papers: Force Estimation from OCT Volumes using 3D CNNs
Estimating the forces acting between instruments and tissue is a challenging problem for robot-assisted minimally-invasive surgery. Recently, numerous vision-based methods have been proposed to replace electro-mechanical approaches.…
Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…
Needle insertion is common during minimally invasive interventions such as biopsy or brachytherapy. During soft tissue needle insertion, forces acting at the needle tip cause tissue deformation and needle deflection. Accurate needle tip…
Automatic motion compensation and adjustment of an intraoperative imaging modality's field of view is a common problem during interventions. Optical coherence tomography (OCT) is an imaging modality which is used in interventions due to its…
Purpose. Needle placement is a challenging problem for applications such as biopsy or brachytherapy. Tip force sensing can provide valuable feedback for needle navigation inside the tissue. For this purpose, fiber-optical sensors can be…
Tracking and localizing objects is a central problem in computer-assisted surgery. Optical coherence tomography (OCT) can be employed as an optical tracking system, due to its high spatial and temporal resolution. Recently, 3D convolutional…
Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, Sensorless…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
Purpose. Precise placement of needles is a challenge in a number of clinical applications such as brachytherapy or biopsy. Forces acting at the needle cause tissue deformation and needle deflection which in turn may lead to misplacement or…
Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging…
Purpose. Localizing structures and estimating the motion of a specific target region are common problems for navigation during surgical interventions. Optical coherence tomography (OCT) is an imaging modality with a high spatial and…
Automated and accurate segmentation of cystoid structures in Optical Coherence Tomography (OCT) is of interest in the early detection of retinal diseases. It is, however, a challenging task. We propose a novel method for localizing cysts in…
Optical Coherence Tomography (OCT) enables the acquisition of high-resolution, three-dimensional fingerprint data, capturing rich subsurface structures for robust biometric recognition. However, the high cost and time-consuming nature of…
In recent years, there has been a growing interest in applying convolutional neural networks (CNNs) to low-level vision tasks such as denoising and super-resolution. Due to the coherent nature of the image formation process, optical…
A neural-network (NN)-based method for high-speed, high-definition dynamic optical coherence tomography (DOCT) using full-field swept-source optical coherence microscopy (FF-SS-OCM) is demonstrated. FF-SS-OCM provides high-definition OCT…
Objective: In this work, we perform margin assessment of human breast tissue from optical coherence tomography (OCT) images using deep neural networks (DNNs). This work simulates an intraoperative setting for breast cancer lumpectomy.…
This work presents an evaluation study using a force feedback evaluation framework for a novel direct needle force volume rendering concept in the context of liver puncture simulation. PTC/PTCD puncture interventions targeting the bile…