Related papers: High-precision surgical navigation using speckle s…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operator variability, robotic ultrasound systems have gained…
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography (iOCT)- a depth sensor widely used in retinal surgery.…
Computer vision seeks to infer a wide range of information about objects and events. However, vision systems based on conventional imaging are limited to extracting information only from the visible surfaces of scene objects. For instance,…
We propose a novel method for establishing correspondence between two sequences of 2D images. One particular application of this technique is slice-level content navigation, where the goal is to localize specific 2D slices within a 3D…
Small aerial robots are particularly well-suited for search and rescue in confined and hazardous environments due to their agility, low cost, and ability to traverse through cluttered spaces that are inaccessible to larger platforms.…
In this paper we investigate the mechanical problem of piercing a soft solid body with a needle. This phenomenon is controlled by the critical condition of needle insertion. Needle insertion involves physical and geometrical nonlinearities…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Image-guided surgery collocates patient-specific data with the physical environment to facilitate surgical decision making in real-time. Unfortunately, these guidance systems commonly become compromised by intraoperative soft-tissue…
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…
Intra-operative measurements of tissue shape and multi/ hyperspectral information have the potential to provide surgical guidance and decision making support. We report an optical probe based system to combine sparse hyperspectral…
Recently, circle representation has been introduced for medical imaging, designed specifically to enhance the detection of instance objects that are spherically shaped (e.g., cells, glomeruli, and nuclei). Given its outstanding…
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties for robot navigation. Vision-based…
This study proposes a sensing method using a millimeter-wave array radar and a depth camera to measure pulse waves at multiple sites on the human body. Using a three-dimensional shape model of the target human body measured by the depth…
Vertebrae localization, segmentation and identification in CT images is key to numerous clinical applications. While deep learning strategies have brought to this field significant improvements over recent years, transitional and…
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…