Related papers: Motion-based Camera Localization System in Colonos…
Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
Abnormalities in the gastrointestinal tract significantly influence the patient's health and require a timely diagnosis for effective treatment. With such consideration, an effective automatic classification of these abnormalities from a…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Accurate dietary monitoring is essential for promoting healthier eating habits. A key area of research is how people interact and consume food using utensils and hands. By tracking their position and orientation, it is possible to estimate…
Recorded videos from surgeries have become an increasingly important information source for the field of medical endoscopy, since the recorded footage shows every single detail of the surgery. However, while video recording is…
Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…
Vision-based motion estimation methods show promise in accurately and unobtrusively estimating human body motion for healthcare purposes. However, these methods are not specifically designed for healthcare purposes and face challenges in…
Wireless Capsule Endoscope (WCE) is an innovative imaging device that permits physicians to examine all the areas of the Gastrointestinal (GI) tract. It is especially important for the small intestine, where traditional invasive endoscopies…
Colorectal cancer (CRC), a lethal disease, begins with the growth of abnormal mucosal cell proliferation called polyps in the inner wall of the colon. When left undetected, polyps can become malignant tumors. Colonoscopy is the standard…
We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU…
Proficiency in microanastomosis is a critical surgical skill in neurosurgery, where the ability to precisely manipulate fine instruments is crucial to successful outcomes. These procedures require sustained attention, coordinated hand…
Motion scoring of cardiac myocardium is of paramount importance for early detection and diagnosis of various cardiac disease. It aims at identifying regional wall motions into one of the four types including normal, hypokinetic, akinetic,…
We introduce ColonSLAM, a system that combines classical multiple-map metric SLAM with deep features and topological priors to create topological maps of the whole colon. The SLAM pipeline by itself is able to create disconnected individual…
In surgical oncology, screening colonoscopy plays a pivotal role in providing diagnostic assistance, such as biopsy, and facilitating surgical navigation, particularly in polyp detection. Computer-assisted endoscopic surgery has recently…
Automated colonoscopy reporting holds great potential for enhancing quality control and improving cost-effectiveness of colonoscopy procedures. A major challenge lies in the automated identification, tracking, and re-association (ReID) of…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
This paper presents a method for automatic segmentation, localization, and identification of vertebrae in arbitrary 3D CT images. Many previous works do not perform the three tasks simultaneously even though requiring a priori knowledge of…