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Despite having achieved real-time performance in mesh construction, most of the current LiDAR odometry and meshing methods may struggle to deal with complex scenes due to relying on explicit meshing schemes. They are usually sensitive to…
To date, the simulation of organ deformations for applications like therapy planning or image-guided interventions is calculated by solving the elastodynamics equations. While efficient solvers have been proposed for fast simulations,…
This preliminary study focuses on the development of a medical image segmentation algorithm based on artificial intelligence for calculating bone growth in contact with metallic implants. %as a result of the problem of estimating the growth…
In this thesis, a computational framework for microstructural modelling of transverse behaviour of heterogeneous materials is presented. The context of this research is part of the broad and active field of Computational Micromechanics,…
We address the problem of unsupervised learning of complex articulated object models from 3D range data. We describe an algorithm whose input is a set of meshes corresponding to different configurations of an articulated object. The…
In this paper we analyze a virtual element method for the two dimensional elasticity problem allowing small edges. With this approach, the classic assumptions on the geometrical features of the polygonal meshes can be relaxed. In…
The release of public 3D medical image segmentation (MIS) datasets accelerates clinical research but simultaneously heightens risks of unauthorized AI model training. While Unlearnable Examples (UE) offer protection by injecting…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
Surgical training involves didactic teaching, mentor-led learning, surgical skills laboratories, and direct exposure to surgery; however, increasing clinical pressures have limited operating room (OR) exposure. This work leverages virtual…
We present 2 statistical models of the skull and mandible built upon an elastic registration method of 3D meshes. The aim of this work is to relate degrees of freedom of skull anatomy, as static relations are of main interest for…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a…
Computer assisted technologies based on algorithmic software segmentation are an increasing topic of interest in complex surgical cases. However - due to functional instability, time consuming software processes, personnel resources or…
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with…
The current standard of intra-operative navigation during Fenestrated Endovascular Aortic Repair (FEVAR) calls for need of 3D alignments between inserted devices and aortic branches. The navigation commonly via 2D fluoroscopic images, lacks…
Electrosurgery is a surgical technique that can improve tissue cutting by reducing cutting force and bleeding. However, electrosurgery adds a risk of thermal injury to surrounding tissue. Expert surgeons estimate desirable cutting…
Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. However, due to anatomical and physiological variations…
We address the problem of accelerating thin-shell deformable object simulations by dimension reduction. We present a new algorithm to embed a high-dimensional configuration space of deformable objects in a low-dimensional feature space,…
Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of…
Soft robots are compliant but often cannot support loads or hold their shape, while rigid robots provide structural strength but are less adaptable. Existing variable-stiffness systems usually operate at the scale of whole segments or…