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Intraoperative imaging techniques for reconstructing deformable tissues in vivo are pivotal for advanced surgical systems. Existing methods either compromise on rendering quality or are excessively computationally intensive, often demanding…
Cone Beam Computed Tomography (CBCT) is widely used in dentistry for diagnostics and treatment planning. CBCT Imaging has a long acquisition time and consequently, the patient is likely to move. This motion causes significant artifacts in…
Morphological development into evolutionary patterns under structural instability is ubiquitous in living systems and often of vital importance for engineering structures. Here we propose a data-driven approach to understand and predict…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
In several problems involving fluid flows, Computational Fluid Dynamics (CFD) provides detailed quantitative information, and often allows the designer to successfully optimize the system, by minimizing a cost function. Sometimes, however,…
In recent years, high-performance computer vision models have achieved remarkable success in medical imaging, with some skin lesion classification systems even surpassing dermatology specialists in diagnostic accuracy. However, such models…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Accurate compensation of brain deformation is a critical challenge for reliable image-guided neurosurgery, as surgical manipulation and tumor resection induce tissue motion that misaligns preoperative planning images with intraoperative…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
Statistical shape modeling (SSM) is an enabling quantitative tool to study anatomical shapes in various medical applications. However, directly using 3D images in these applications still has a long way to go. Recent deep learning methods…
Facial expression recognition is a challenging task when neural network is applied to pattern recognition. Most of the current recognition research is based on single source facial data, which generally has the disadvantages of low accuracy…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
Foundation models like ChatGPT and Sora that are trained on a huge scale of data have made a revolutionary social impact. However, it is extremely challenging for sensors in many different fields to collect similar scales of natural images…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
The inherent challenge of multimodal fusion is to precisely capture the cross-modal correlation and flexibly conduct cross-modal interaction. To fully release the value of each modality and mitigate the influence of low-quality multimodal…
Statistical shape modeling is the computational process of discovering significant shape parameters from segmented anatomies captured by medical images (such as MRI and CT scans), which can fully describe subject-specific anatomy in the…
Craniosynostosis is a medical condition that affects the growth of babies' heads, caused by an early fusion of cranial sutures. In recent decades, surgical treatments for craniosynostosis have significantly improved, leading to reduced…
Facial analysis has emerged as a prominent area of research with diverse applications, including cosmetic surgery programs, the beauty industry, photography, and entertainment. Manipulating patient images often necessitates professional…
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent advances in learning configuration-space distance functions…