Related papers: Spatio-Temporal Deep Learning Models for Tip Force…
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…
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…
Purpose: Ultrasound-guided needle interventions are widely used in clinical practice, but their success critically depends on accurate needle placement, which is frequently hindered by the poor and intermittent visibility of needles in…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
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.…
Needle positioning is essential for various medical applications such as epidural anaesthesia. Physicians rely on their instincts while navigating the needle in epidural spaces. Thereby, identifying the tissue structures may be helpful to…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
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…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
Soft tissue simulation in virtual environments is becoming increasingly important for medical applications. However, the high deformability of soft tissue poses significant challenges. Existing methods rely on segmentation, meshing and…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
\textit{Purpose} Estimating the interaction forces of instruments and tissue is of interest, particularly to provide haptic feedback during robot assisted minimally invasive interventions. Different approaches based on external and…
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…
The distinction between malignant and benign tumors is essential to the treatment of cancer. The tissue's elasticity can be used as an indicator for the required tissue characterization. Optical coherence elastography (OCE) probes have been…
Flexible needle insertion procedures are common for minimally-invasive surgeries for diagnosing and treating prostate cancer. Bevel-tip needles provide physicians the capability to steer the needle during long insertions to avoid vital…
Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the potential to reduce the invasiveness of many medical…
Cannulation for hemodialysis is the act of inserting a needle into a surgically created vascular access (e.g., an arteriovenous fistula) for the purpose of dialysis. The main risk associated with cannulation is infiltration, the puncture of…
Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…
In recent years, deep learning technology has developed rapidly, and the application of deep neural networks in the medical image processing field has become the focus of the spotlight. This paper aims to achieve needle position detection…