Related papers: 3D Laser-and-tissue Agnostic Data-driven Method fo…
This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove…
Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions, such as those in the liver, exhibit rhythmic components…
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS (Robot-Assisted Tissue Surgery), an…
Surgical automation has the potential to enable increased precision and reduce the per-patient workload of overburdened human surgeons. An effective automation system must be able to sense and map subsurface anatomy, such as tumors,…
Imaging modalities provide clinicians with real-time visualization of anatomical regions of interest (ROI) for the purpose of minimally invasive surgery. During the procedure, low-resolution image data are acquired and registered with…
We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the lack of texture and…
Radiofrequency catheter ablation (RFCA) is an effective treatment for cardiac arrhythmias. Although generally safe, it is not completely exempt from the risk of complications. The great flexibility of computational models can be a major…
We realize mirror templates on the tips of optical fibers using a single-shot CO$_2$ laser ablation procedure. We perform a systematic study of the influence of the pulse power, pulse duration, and laser spot size on the radius of…
Using fiducial markers on patient's body surface to predict the tumor location is a widely used approach in lung cancer radiotherapy. The purpose of this work is to propose an algorithm that automatically identifies a sparse set of…
Geometric metrology includes one or two-dimensional (1D or 2D) distance or plane measurements, as well as the three-dimensional (3D) scanning. The 1D or 2D measuring system is unable to obtain advanced 3D feature, while the 3D scanning…
Modern external beam cancer radiotherapy applies prescribed radiation doses to tumor targets while minimally affecting nearby vulnerable organs-at-risk (OARs). Creating a treatment plan is difficult and time-consuming with no guarantee of…
We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…
Orthognathic surgery consultation is essential to help patients understand the changes to their facial appearance after surgery. However, current visualization methods are often inefficient and inaccurate due to limited pre- and…
Surface reconstruction from magnetic resonance (MR) imaging data is indispensable in medical image analysis and clinical research. A reliable and effective reconstruction tool should: be fast in prediction of accurate well localised and…
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surrounding healthy structures. However, building an…
Usually, lesions are not isolated but are associated with the surrounding tissues. For example, the growth of a tumour can depend on or infiltrate into the surrounding tissues. Due to the pathological nature of the lesions, it is…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…