Related papers: Intraoperative robotic-assisted large-area high-sp…
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Minimally invasive and robot-assisted surgery relies heavily on endoscopic imaging, yet surgical smoke produced by electrocautery and vessel-sealing instruments can severely degrade visual perception and hinder vision-based functionalities.…
Optical endoscopy plays a crucial role in minimally invasive medical diagnostics and therapeutic procedures. Nonetheless, state-of-the-art endoscopic zoom objectives are bulky, requiring multi-element lens actuation, which can limit…
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…
Segmentation of surgical instruments is crucial for enhancing surgeon performance and ensuring patient safety. Conventional techniques such as binary, semantic, and instance segmentation share a common drawback: they do not accommodate the…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…
Recent advances in capsule endoscopy systems have introduced new methods and capabilities. The capsule endoscopy system, by observing the entire digestive tract, has significantly improved diagnosing gastrointestinal disorders and diseases.…
Recent development of lensless imagers has enabled three-dimensional (3D) imaging through a thin piece of optics in close proximity to a camera sensor. A general challenge of wide-field lensless imaging is the high computational complexity…
Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…
Purpose: Preoperative imaging plays a pivotal role in sinus surgery where CTs offer patient-specific insights of complex anatomy, enabling real-time intraoperative navigation to complement endoscopy imaging. However, surgery elicits…
The ability to extend the field of view of laparoscopy images can help the surgeons to obtain a better understanding of the anatomical context. However, due to tissue deformation, complex camera motion and significant three-dimensional (3D)…
Diffuse Reflectance Spectroscopy (DRS) is a well-established optical technique for tissue composition assessment which has been clinically evaluated for tumour detection to ensure the complete removal of cancerous tissue. While point-wise…
In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases and pathologies.…
Inpainting has recently been proposed as a successful deep learning technique for unsupervised medical image model discovery. The masks used for inpainting are generally independent of the dataset and are not tailored to perform on…
Confocal laser endomicroscopy (CLE) is a novel imaging modality that provides in vivo histological cross-sections of examined tissue. Recently, attempts have been made to develop miniaturized in vivo imaging devices, specifically confocal…
Endoscopy is the most widely used medical technique for cancer and polyp detection inside hollow organs. However, images acquired by an endoscope are frequently affected by illumination artefacts due to the enlightenment source orientation.…
Accurate and real-time surgical instrument segmentation is important in the endoscopic vision of robot-assisted surgery, and significant challenges are posed by frequent instrument-tissue contacts and continuous change of observation…
Minimally invasive imaging with fiber optic endoscopes is crucial for in vivo visualization of tissue morphology, particularly because visualizing structural changes in tissue can support applications such as the early diagnosis of tumors.…
In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of surgeon, so it can take appropriate assisting actions. In…