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Unrolled neural networks have enabled state-of-the-art reconstruction performance and fast inference times for the accelerated magnetic resonance imaging (MRI) reconstruction task. However, these approaches depend on fully-sampled scans as…
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…
Acute stroke lesion segmentation tasks are of great clinical interest as they can help doctors make better informed treatment decisions. Magnetic resonance imaging (MRI) is time demanding but can provide images that are considered gold…
Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…
Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using…
The travelling-wave MRI approach is an alternative to overcome the B1 inhomogeneity at UHF MRI for human applications. More recently, this concept has been also used with animal MR imagers. We used a parallel-plate waveguide and a…
Nanoscale magnetic resonance imaging (NanoMRI) is an active area of applied research with potential use in structural biology and quantum engineering. The success of this technological vision hinges on improving the instrument's sensitivity…
This paper presents the mechanical design of a distal scanner to perform a spiral scan for mosaic-imaging with a confocal microlaparoscope. First, it is demonstrated with ex vivo experiments that a spiral scan performs better than a raster…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
Medical artificial general intelligence (MAGI) enables one foundation model to solve different medical tasks, which is very practical in the medical domain. It can significantly reduce the requirement of large amounts of task-specific data…
Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
Recently, metamaterials have been introduced to improve the signal-to-noise ratio (SNR) of magnetic resonance images with very promising results. However, the use polymers in the generation of high quality images in magnetic resonance…
Semiconductor microelectronics are emerging as a powerful tool for building smart, autonomous robots too small to see with the naked eye. Yet a number of existing microrobot platforms, despite significant advantages in speed, robustness,…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
Magnetic Resonance Imaging (MRI) is the primary imaging modality used in the diagnosis, assessment, and treatment planning for brain pathologies. However, most automated MRI analysis tools, such as segmentation and registration pipelines,…
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within…
At present, MRI scans are performed inside a fully-enclosed RF shielding room, posing stringent installation requirement and unnecessary patient discomfort. We aim to develop an electromagnetic interference (EMI) cancellation strategy for…
High-resolution slice-to-volume reconstruction (SVR) from multiple motion-corrupted low-resolution 2D slices constitutes a critical step in image-based diagnostics of moving subjects, such as fetal brain Magnetic Resonance Imaging (MRI).…