Related papers: High-precision surgical navigation using speckle s…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
Localizing oneself during endoscopic procedures can be problematic due to the lack of distinguishable textures and landmarks, as well as difficulties due to the endoscopic device such as a limited field of view and challenging lighting…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Current spinal pain management procedures, such as radiofrequency ablation (RFA) and epidural steroid injection (ESI), rely on fluoroscopy for needle placement which exposes patients and physicians to ionizing radiation. In this paper, we…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
Active surgical robots lack acceptance in clinical practice, because they do not offer the flexibility and usability required for a versatile usage: the systems require a large installation space or a complicated registration step, where…
Tight-frame, a generalization of orthogonal wavelets, has been used successfully in various problems in image processing, including inpainting, impulse noise removal, super-resolution image restoration, etc. Segmentation is the process of…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
In percutaneous pelvic trauma surgery, accurate placement of Kirschner wires (K-wires) is crucial to ensure effective fracture fixation and avoid complications due to breaching the cortical bone along an unsuitable trajectory. Surgical…
Robotic ophthalmic surgery is an emerging technology to facilitate high-precision interventions such as retina penetration in subretinal injection and removal of floating tissues in retinal detachment depending on the input imaging…
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…
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…
Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…
The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precise positioning of puncture…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Under conventional "open-" surgery, the physician has to take care of the patient, interact with other clinicians and check several monitoring devices. Nowadays, the Computer Assisted Surgery proposes to integrate 3D cameras in the…