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It remains challenging to automatically segment kidneys in clinical ultrasound images due to the kidneys' varied shapes and image intensity distributions, although semi-automatic methods have achieved promising performance. In this study,…
Accurate segmentation of anatomical structures in ultrasound (US) images, particularly small ones, is challenging due to noise and variability in imaging conditions (e.g., probe position, patient anatomy, tissue characteristics and…
Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…
Accurate and real-time surgical instrument segmentation is important in the endoscopic vision of robot-assisted surgery, and significant challenges are posed by frequent instrument-tissue contacts and continuous change of observation…
Despite the recent advances of deep learning algorithms in medical imaging, the automatic segmentation algorithms for kidneys in MRI exams are still scarce. Automated segmentation of kidneys in Magnetic Resonance Imaging (MRI) exams are…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…
Deep learning approaches have achieved state-of-the-art performance in cardiac magnetic resonance (CMR) image segmentation. However, most approaches have focused on learning image intensity features for segmentation, whereas the…
Knee arthroscopy is a minimally invasive surgical (MIS) procedure which is performed to treat knee-joint ailment. Lack of visual information of the surgical site obtained from miniaturized cameras make this surgical procedure more complex.…
Renal biopsies are the gold standard for the diagnosis of kidney diseases. Lesion scores made by renal pathologists are semi-quantitative and exhibit high inter-observer variability. Automating lesion classification within segmented…
Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical…
In this paper, we formulated the kidney segmentation task in a coarse-to-fine fashion, predicting a coarse label based on the entire CT image and a fine label based on the coarse segmentation and separated image patches. A key difference…
Image processing techniques provide important assistance to physicians and relieve their workload in different tasks. In particular, identifying objects of interest such as lesions and anatomical structures from the image is a challenging…
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…
This paper presents a new approach for precisely estimating the renal vascular dominant region using a Voronoi diagram. To provide computer-assisted diagnostics for the pre-surgical simulation of partial nephrectomy surgery, we must obtain…
The basic problem of shape complementarity analysis appears fundamental to applications as diverse as mechanical design, assembly automation, robot motion planning, micro- and nano-fabrication, protein-ligand binding, and rational drug…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
Due to a high heterogeneity in pose and size and to a limited number of available data, segmentation of pediatric images is challenging for deep learning methods. In this work, we propose a new CNN architecture that is pose and scale…
The health and safety hazards posed by worn crane lifting ropes mandate periodic inspection for damage. This task is time-consuming, prone to human error, halts operation, and may result in the premature disposal of ropes. Therefore, we…
Accurate fine-grained segmentation of the renal vasculature is critical for nephrological analysis, yet it faces challenges due to diverse and insufficiently annotated images. Existing methods struggle to accurately segment intricate…
Drilling is one of the hardest parts of pedicle screw fixation, and it is one of the most dangerous operations because inaccurate screw placement would injury vital tissues, particularly when the vertebra is not stationary. Here we…