Related papers: High-precision surgical navigation using speckle s…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
Deformable image registration, estimating the spatial transformation between different images, is an important task in medical imaging. Many previous studies have used learning-based methods for multi-stage registration to perform 3D image…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…
Due to low tissue contrast, irregular object appearance, and unpredictable location variation, segmenting the objects from different medical imaging modalities (e.g., CT, MR) is considered as an important yet challenging task. In this…
Performing minimal-invasive surgical punctures require guiding a needle toward an intracorporeal clinically-defined target. As this technique does not involve cutting the body open, a visualization system is employed to provide the surgeon…
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…
Chinese acupuncture practitioners primarily depend on muscle memory and tactile feedback to insert needles and accurately target acupuncture points, as the current workflow lacks imaging modalities and visual aids. Consequently, new…
Current image-guided prostate radiotherapy often relies on the use of implanted fiducials or transducers for target localization. Fiducial or transducer insertion requires an invasive procedure that adds cost and risks for bleeding,…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is…
Cardiac and lung ultrasound are technically demanding because operators must identify patient-specific intercostal acoustic windows and then navigate between standard views by adjusting probe position, rotation, and force across different…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
Vertebrae identification in arbitrary fields-of-view plays a crucial role in diagnosing spine disease. Most spine CT contain only local regions, such as the neck, chest, and abdomen. Therefore, identification should not depend on specific…
In this work, we develop an approach for guiding robots to automatically localize and find the shapes of tumors and other stiff inclusions present in the anatomy. Our approach uses Gaussian processes to model the stiffness distribution and…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…
Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system for CT guided…
This paper introduces the principles of computer assisted percutaneous renal puncture, that would provide the surgeon with an accurate pre-operative 3D planning on CT images and, after a rigid registration with space-localized echographic…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…