Related papers: Autonomous Tissue Scanning under Free-Form Motion …
Spatially localized deformation components are very useful for shape analysis and synthesis in 3D geometry processing. Several methods have recently been developed, with an aim to extract intuitive and interpretable deformation components.…
In this work, we introduce a fast and accurate method for unsupervised 3D medical image registration. This work is built on top of a recent algorithm SAM, which is capable of computing dense anatomical/semantic correspondences between two…
Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force…
Dynamic volumetric MRI provides valuable information on in vivo motion and biomechanics, with applications spanning cardiac, musculoskeletal, or pulmonary imaging, amongst others. Developing reconstruction methods for time-resolved…
One of the most important issue in soft tissue modeling is to assess the quality of the simulations. A validation protocol is presented based on two CT scans of the patient acquired before and after cranio-maxillofacial surgery. The actual…
X-ray computed tomography is a powerful tool for volumetric imaging, but requires the collection of a large number of low-noise projection images, which is often too time consuming, limiting its applicability. In our previous work…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
The precise delineation of blood vessels in medical images is critical for many clinical applications, including pathology detection and surgical planning. However, fully-automated vascular segmentation is challenging because of the…
Tissue oxygenation and perfusion can be an indicator for organ viability during minimally invasive surgery, for example allowing real-time assessment of tissue perfusion and oxygen saturation. Multispectral imaging is an optical modality…
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on rigid and non deformable anatomical structures. Nowadays, special attention is paid to soft tissues, raising complex issues due to their…
We propose a new benchmark for evaluating stereoscopic visual-inertial computer vision algorithms (SLAM/ SfM/ 3D Reconstruction/ Visual-Inertial Odometry) for minimally invasive surgical (MIS) interventions in the abdomen. Our MITI Dataset…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
We propose a new variational model for joint image reconstruction and motion estimation in spatiotemporal imaging, which is investigated along a general framework that we present with shape theory. This model consists of two components, one…
Surgical simulation is essential for medical training, enabling practitioners to develop crucial skills in a risk-free environment while improving patient safety and surgical outcomes. However, conventional methods for building simulation…
We propose an approach to reconstruct dense three-dimensional (3D) model of tissue surface from stereo optical videos in real-time, the basic idea of which is to first extract 3D information from video frames by using stereo matching, and…
Tight-frame, a generalization of orthogonal wavelets, has been used successfully in various problems in image processing, including inpainting, impulse noise removal, super-resolution image restoration, etc. Segmentation is the process of…
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…