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Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Wireless Capsule Endoscopy (WCE) is being increasingly used as an alternative imaging modality for complete and non-invasive screening of the gastrointestinal tract. Although this is advantageous in reducing unnecessary hospital admissions,…
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…
Since the development of capsule endoscopcy technology, substantial progress were made in converting passive capsule endoscopes to robotic active capsule endoscopes which can be controlled by the doctor. However, robotic capsule endoscopy…
Endoscopy provides a major contribution to the diagnosis of the Gastrointestinal Tract (GIT) diseases. With Colon Endoscopy having its certain limitations, Wireless Capsule Endoscopy is gradually taking over it in the terms of ease and…
This article presents the design and assembly of a novel magnetically actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high speed scanning of a fiber-based laser for operation in narrow…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
Gastroendoscopy has been a clinical standard for diagnosing and treating conditions that affect a part of a patient's digestive system, such as the stomach. Despite the fact that gastroendoscopy has a lot of advantages for patients, there…
Wireless capsule endoscopy (WCE) is a painless and non-invasive diagnostic tool for gastrointestinal (GI) diseases. However, due to GI anatomical constraints and hardware manufacturing limitations, WCE vision signals may suffer from…
We have developed a Parallel Integrated Control and Training System, leveraging the deep reinforcement learning to dynamically adjust the control strategies in real time for scanning probe microscopy techniques.
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
Deep learning techniques hold promise to develop dense topography reconstruction and pose estimation methods for endoscopic videos. However, currently available datasets do not support effective quantitative benchmarking. In this paper, we…
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…
Magnetic resonance imaging (MRI) is a highly versatile and widely used clinical imaging tool. The content of MRI images is controlled by an acquisition sequence, which coordinates the timing and magnitude of the scanner hardware…
Wireless Capsule Endoscopy is one of the most advanced non-invasive methods for the examination of gastrointestinal tracts. An intelligent computer-aided diagnostic system for detecting gastrointestinal abnormalities like polyp, bleeding,…
Ultrasound (US) has been widely used in daily clinical practice for screening internal organs and guiding interventions. However, due to the acoustic shadow cast by the subcutaneous rib cage, the US examination for thoracic application is…
Protocol optimization is critical in Computed Tomography (CT) to achieve high diagnostic image quality while minimizing radiation dose. However, due to the complex interdependencies among CT acquisition and reconstruction parameters,…
Tissue stiffness is related to soft tissue pathologies and can be assessed through palpation or via clinical imaging systems, e.g., ultrasound or magnetic resonance imaging. Typically, the image based approaches are not suitable during…
Deep learning in gastrointestinal endoscopy can assist to improve clinical performance and be helpful to assess lesions more accurately. To this extent, semantic segmentation methods that can perform automated real-time delineation of a…
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…