Related papers: Toward Autonomous Robotic Micro-Suturing using Opt…
Dynamic optical coherence tomography (DOCT) statistically analyzes fluctuations in time-sequential OCT signals, enabling label-free and three-dimensional visualization of intratissue and intracellular activities. Current DOCT methods, such…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Accurate visualization of interventional devices, such as medical needles, is essential for the safe and effective guidance of minimally invasive procedures. Ultrasound (US) imaging is widely used for needle guidance, but the…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability to sense, interpret, and respond to changes during…
Optical Coherence Tomography is a technique used to scan the Retina of the eye and check for tears. In this paper, we develop a Convolutional Neural Network Architecture for OCT scan classification. The model is trained to detect Retinal…
The optic nerve head represents the intraocular section of the optic nerve (ONH), which is prone to damage by intraocular pressure. The advent of optical coherence tomography (OCT) has enabled the evaluation of novel optic nerve head…
Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots,…
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the…
In this work, we develop an open-source surgical simulation environment that includes a realistic model obtained by MRI-scanning a physical phantom, for the purpose of training and evaluating a Learning from Demonstration (LfD) algorithm…
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…
Optical coherence tomography angiography (OCTA) is a noninvasive imaging technique that can reveal high-resolution retinal vessels. In this work, we propose an accurate and efficient neural network for retinal vessel segmentation in OCTA…
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating…
The goal of this study was to develop new reliable open surgery suturing simulation system for training medical students in situation where resources are limited or in the domestic setup. Namely, we developed an algorithm for tools and…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…
This short textbook was written for someone who newly start studying, doing research, or development about optical coherence tomography (OCT) or using OCT. The first chapter summarizes the concept and the history of OCT. In the second…