Related papers: High-precision surgical navigation using speckle s…
Accurate motion estimation for tracking deformable tissues in echocardiography is essential for precise cardiac function measurements. While traditional methods like block matching or optical flow struggle with intricate cardiac motion,…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
Autonomous surgical robots have demonstrated significant potential to standardize surgical outcomes, driving innovations that enhance safety and consistency regardless of individual surgeon experience. Deep anterior lamellar keratoplasty…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
Point cloud-based motion capture leverages rich spatial geometry and privacy-preserving sensing, but learning robust representations from noisy, unstructured point clouds remains challenging. Existing approaches face a struggle trade-off…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
This paper presents an innovative approach to intraoperative Optical Coherence Tomography (iOCT) image segmentation in ophthalmic surgery, leveraging statistical analysis of speckle patterns to incorporate statistical pathology-specific…
Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…
Automated patient positioning can improve radiology workflow efficiency by reducing the time required for manual table adjustments and scout-based scan planning. We propose a learning-based framework that predicts 3D organ locations and…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Successfully tracking the human body is an important perceptual challenge for robots that must work around people. Existing methods fall into two broad categories: geometric tracking and direct pose estimation using machine learning. While…
Point set registration is a powerful method that enables robots to manipulate deformable objects. By mapping the point cloud of the current object to the pre-trained point cloud, a transformation function can be constructed. The…
Purpose: Intraoperative ultrasound scanning is a demanding visuotactile task. It requires operators to simultaneously localise the ultrasound perspective and manually perform slight adjustments to the pose of the probe, making sure not to…
Spinal fusion surgery requires highly accurate implantation of pedicle screw implants, which must be conducted in critical proximity to vital structures with a limited view of anatomy. Robotic surgery systems have been proposed to improve…
Over the past decade, optical orbital angular momentum (OAM) modes were shown to offer advantages in optical information acquisition. Here, we introduce a new scheme for optical ranging in which depth is estimated through the angular…
In spinal vertebral mobility disease, accurately extracting and contouring vertebrae is essential for assessing mobility impairments and monitoring variations during flexion-extension movements. Precise vertebral contouring plays a crucial…
In this paper, mm-Pose, a novel approach to detect and track human skeletons in real-time using an mmWave radar, is proposed. To the best of the authors' knowledge, this is the first method to detect >15 distinct skeletal joints using…
In trauma and critical care settings, rapid and precise intravascular access is key to patients' survival. Our research aims at ensuring this access, even when skilled medical personnel are not readily available. Vessel bifurcations are…
Deformable medical image registration is an essential task in computer-assisted interventions. This problem is particularly relevant to oncological treatments, where precise image alignment is necessary for tracking tumor growth, assessing…