Related papers: Medical needle tip tracking based on Optical Imagi…
Human fingerprints serve as one unique and powerful characteristic for each person, from which policemen can recognize the identity. Similar to humans, many natural bodies and intrinsic mechanical qualities can also be uniquely identified…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
Surgical guide plate is an important tool for the dental implant surgery. However, the design process heavily relies on the dentist to manually simulate the implant angle and depth. When deep neural networks have been applied to assist the…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…
Flexible microelectrode (FME) implantation into brain cortex is challenging due to the deformable fiber-like structure of FME probe and the interaction with critical bio-tissue. To ensure reliability and safety, the implantation process…
Eye-tracking plays a crucial role in the development of virtual reality devices, neuroscience research, and psychology. Despite its significance in numerous applications, achieving an accurate, robust, and fast eye-tracking solution remains…
To restore proper blood flow in blocked coronary arteries via angioplasty procedure, accurate placement of devices such as catheters, balloons, and stents under live fluoroscopy or diagnostic angiography is crucial. Identified balloon…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
When deep neural network (DNN) was first introduced to the medical image analysis community, researchers were impressed by its performance. However, it is evident now that a large number of manually labeled data is often a must to train a…
We introduce the problem of knot-based inverse perceptual art. Given multiple target images and their corresponding viewing configurations, the objective is to find a 3D knot-based tubular structure whose appearance resembles the target…
In this study we present a kinematic approach to modeling needle insertion into soft tissues. The kinematic approach allows the presentation of the problem as Dirichlet-type (i.e. driven by enforced motion of boundaries) and therefore…
Objective: State of the art navigation systems for pelvic osteotomies use optical systems with external fiducials. We propose the use of X-Ray navigation for pose estimation of periacetabular fragments without fiducials. Methods: A 2D/3D…
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…
Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the potential to reduce the invasiveness of many medical…
Mitral valve repair is a very difficult operation, often requiring experienced surgeons. The doctor will insert a prosthetic ring to aid in the restoration of heart function. The location of the prosthesis' sutures is critical. Obtaining…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
We propose an estimation method using a recurrent neural network (RNN) of the colon's shape where deformation was occurred by a colonoscope insertion. Colonoscope tracking or a navigation system that navigates physician to polyp positions…
Automated assessment of surgical skills using artificial intelligence (AI) provides trainees with instantaneous feedback. After bimanual tool motions are captured, derived kinematic metrics are reliable predictors of performance in…
Head pose estimation and tracking is useful in variety of medical applications. With the advent of RGBD cameras like Kinect, it has become feasible to do markerless tracking by estimating the head pose directly from the point clouds. One…