Related papers: A Hybrid-Layered System for Image-Guided Navigatio…
Spine surgery is a high-risk intervention demanding precise execution, often supported by image-based navigation systems. Recently, supervised learning approaches have gained attention for reconstructing 3D spinal anatomy from sparse…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
Laparoscopic surgery constrains surgeons spatial awareness because procedures are performed through a monocular, two-dimensional (2D) endoscopic view. Conventional training methods using dry-lab models or recorded videos provide limited…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…
Imitation learning-based robot control policies are enjoying renewed interest in video-based robotics. However, it remains unclear whether this approach applies to X-ray-guided procedures, such as spine instrumentation, with sparse inputs.…
In this contribution, an image-guided therapy system supporting gynecologic radiation therapy is introduced. The overall workflow of the presented system starts with the arrival of the patient and ends with follow-up examinations by imaging…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
This study considers modern surgical navigation systems based on augmented reality technologies. Augmented reality glasses are used to construct holograms of the patient's organs from MRI and CT data, subsequently transmitted to the…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Accurate pose estimation of surgical tools in Robot-assisted Minimally Invasive Surgery (RMIS) is essential for surgical navigation and robot control. While traditional marker-based methods offer accuracy, they face challenges with…
This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using…
Neuronavigation is widely used in biomedical research and interventions to guide the precise placement of instruments around the head to support procedures such as transcranial magnetic stimulation. Traditional systems, however, rely on…
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…
Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment…
We introduce BridgeSplat, a novel approach for deformable surgical navigation that couples intraoperative 3D reconstruction with preoperative CT data to bridge the gap between surgical video and volumetric patient data. Our method rigs 3D…
Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…