Related papers: Optical Fiber-Based Needle Shape Sensing in Real T…
In recent years, deep learning technology has developed rapidly, and the application of deep neural networks in the medical image processing field has become the focus of the spotlight. This paper aims to achieve needle position detection…
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue types presents difficulties for surgeons in achieving…
Large-scale neural recording with high spatio-temporal resolution is essential for understanding information processing in brain, yet current neural interfaces fall far short of comprehensively capturing brain activity due to extremely high…
Ultrasound imaging of the cortex of long bones may enable the measurement of the cortical thickness and the ultrasound wave speed in cortical bone tissue. However, with bone loss, the cortical porosity and the size of the pores increase,…
Needle positioning is essential for various medical applications such as epidural anaesthesia. Physicians rely on their instincts while navigating the needle in epidural spaces. Thereby, identifying the tissue structures may be helpful to…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Multimode fibers (MMFs) show great promise as miniature probes for sensing, imaging and spectroscopy applications. Different parameters of the fibers, such as numerical aperture, refractive index profile and length, have been already…
Fiber-based endoscopes utilizing multi-core fiber (MCF) bundles offer the capability to image deep within the human body, making them well-suited for imaging applications in minimally invasive surgery or diagnosis. However, the optical…
In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…
The widespread adoption of machine learning and other matrix intensive computing algorithms has inspired renewed interest in analog optical computing, which has the potential to perform large-scale matrix multiplications with superior…
We demonstrate in vivo endoscopic optical coherence tomography (OCT) imaging in the forward direction using a flexible fiber bundle. In comparison to current conventional forward looking probe schemes, our approach simplifies the endoscope…
Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…
To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
Precise percutaneous needle detection is crucial for ultrasound (US)-guided interventions. However, inherent limitations such as speckles, needle-like artifacts, and low resolution make it challenging to robustly detect needles, especially…
Optical fibre-based sensors measuring refractive index shift in bodily fluids and tissues are versatile and accurate probes of physiological processes. Here, we suggest a refractive index sensor based on a microstructured exposed-core fibre…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
It has been recently demonstrated that use of ultrasound increases the tissue yield in ultrasound-enhanced fine-needle aspiration biopsy (USeFNAB) as compared to conventional fine-needle aspiration biopsy (FNAB). To date, the association…
Fluid-filled soft visuotactile sensors such as the Soft-bubbles alleviate key challenges for robust manipulation, as they enable reliable grasps along with the ability to obtain high-resolution sensory feedback on contact geometry and…