Related papers: High-precision surgical navigation using speckle s…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
In situ tissue biopsy with an endoluminal catheter is an efficient approach for disease diagnosis, featuring low invasiveness and few complications. However, the endoluminal catheter struggles to adjust the biopsy direction by distal…
For compression fracture detection and evaluation, an automatic X-ray image segmentation technique that combines deep-learning and level-set methods is proposed. Automatic segmentation is much more difficult for X-ray images than for CT or…
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…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities;…
Validation of newly developed optical tissue sensing techniques for tumor detection during cancer surgery requires an accurate correlation with histological results. Additionally, such accurate correlation facilitates precise data labeling…
Autonomous surgery has attracted increasing attention for revolutionizing robotic patient care, yet remains a distant and challenging goal. In this paper, we propose an image-based framework for high-precision autonomous suturing operation.…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
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…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Background and aim: Image registration and alignment are the main limitations of augmented reality-based knee replacement surgery. This research aims to decrease the registration error, eliminate outcomes that are trapped in local minima to…
Purpose: Accurate intraoperative X-ray/CT registration is essential for surgical navigation in orthopedic procedures. However, existing methods struggle with consistently achieving sub-millimeter accuracy, robustness under broad initial…
This project concerns developing and validating an image guidance framework for application to a robotic-assisted fibular reduction in ankle fracture surgery. The aim is to produce and demonstrate proper functioning of software for…
Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners,…
BACKGROUND AND OBJECTIVE: The research done in the field of Augmented Reality (AR) for patient positioning in radiation therapy is scarce. We propose an efficient and cost-effective algorithm for tracking the scene and the patient to…
In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases and pathologies.…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…
Precise segmentation and anatomical identification of the vertebrae provides the basis for automatic analysis of the spine, such as detection of vertebral compression fractures or other abnormalities. Most dedicated spine CT and MR scans as…