Related papers: An Open-Source 7-Axis, Robotic Platform to Enable …
Accurate segmentation of prostate and surrounding organs at risk is important for prostate cancer radiotherapy treatment planning. We present a fully automated workflow for male pelvic CT image segmentation using deep learning. The…
OBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with…
Objective: Deep learning-based neural decoders have emerged as the prominent approach to enable dexterous and intuitive control of neuroprosthetic hands. Yet few studies have materialized the use of deep learning in clinical settings due to…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots…
In robotic-assisted partial nephrectomy, surgeons remove a part of a kidney often due to the presence of a mass. A drop-in ultrasound probe paired to a surgical robot is deployed to execute multiple swipes over the kidney surface to…
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp,…
Percutaneous dilatational tracheostomy (PDT) is frequently performed on patients in intensive care units for prolonged mechanical ventilation. The needle puncture, as the most critical step of PDT, could lead to adverse consequences such as…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Accurate intraoperative navigation is essential for robot-assisted endoluminal intervention, but remains difficult because of limited endoscopic field of view and dynamic artifacts. Existing navigation platforms often rely on external…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theoretically well-suited for working in human domains, but their…
Medical image segmentation is one of the important tasks of computer-aided diagnosis in medical image analysis. Since most medical images have the characteristics of blurred boundaries and uneven intensity distribution, through existing…
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…
An automatic segmentation algorithm for delineation of the gross tumour volume and pathologic lymph nodes of head and neck cancers in PET/CT images is described. The proposed algorithm is based on a convolutional neural network using the…
Radioguided surgery, such as sentinel lymph node biopsy, relies on the precise localization of radioactive targets by non-imaging gamma/beta detectors. Manual radioactive target detection based on visual display or audible indication of…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantially stronger than in open tabletop scenes.…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling…