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Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like artifacts, and low image resolution make robust needle…
Ultrasound image quality has continually been improving. However, when needles or other metallic objects are operating inside the tissue, the resulting reverberation artifacts can severely corrupt the surrounding image quality. Such effects…
Segmenting a moving needle in ultrasound images is challenging due to the presence of artifacts, noise, and needle occlusion. This task becomes even more demanding in scenarios where data availability is limited. In this paper, we present a…
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.…
Brachytherapy involves bringing a radioactive source near tumor tissue using implanted needles. Image-guided brachytherapy planning requires amongst others, the reconstruction of the needles. Manually annotating these needles on patient…
Many minimally invasive procedures, such as core needle biopsy of focal liver lesions, nerve blocks, and fetal and vascular interventions, are typically performed under ultrasound guidance, which provides real-time, high-resolution…
Efficient intravascular access in trauma and critical care significantly impacts patient outcomes. However, the availability of skilled medical personnel in austere environments is often limited. Autonomous robotic ultrasound systems can…
Precise percutaneous needle detection is crucial for ultrasound (US)-guided interventions. However, inherent limitations such as speckles, needle-like artifacts, and low resolution make it challenging to robustly detect needles, especially…
Purpose: Ultrasound-guided needle interventions are widely used in clinical practice, but their success critically depends on accurate needle placement, which is frequently hindered by the poor and intermittent visibility of needles in…
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform…
Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion…
Semantic segmentation of robotic instruments is an important problem for the robot-assisted surgery. One of the main challenges is to correctly detect an instrument's position for the tracking and pose estimation in the vicinity of surgical…
Photoacoustic imaging has shown great potential for guiding minimally invasive procedures by accurate identification of critical tissue targets and invasive medical devices (such as metallic needles). The use of light emitting diodes (LEDs)…
A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging…
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise…
Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making.…
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions,…
Robot-guided catheter insertion has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate and reliable segmentation of anatomical landmarks in the body.…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Accurate and real-time surgical instrument segmentation is important in the endoscopic vision of robot-assisted surgery, and significant challenges are posed by frequent instrument-tissue contacts and continuous change of observation…