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Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Accurate visualization of interventional devices, such as medical needles, is essential for the safe and effective guidance of minimally invasive procedures. Ultrasound (US) imaging is widely used for needle guidance, but the…
Abstract Background During percutaneous puncture robotic surgical navigation, the needle insertion point is positioned on the patient's chest and abdomen body surface. By locating any point on the soft skin tissue, it is difficult to apply…
This work proves that semantic segmentation on minimally invasive surgical instruments can be improved by using training data that has been augmented through domain adaptation. The benefit of this method is twofold. Firstly, it suppresses…
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…
Ultrasound (US) is one of the most commonly used imaging modalities in both diagnosis and surgical interventions due to its low-cost, safety, and non-invasive characteristic. US image segmentation is currently a unique challenge because of…
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion caused by physiological factors such as respiration and…
Various imaging artifacts, low signal-to-noise ratio, and bone surfaces appearing several millimeters in thickness have hindered the success of ultrasound (US) guided computer assisted orthopedic surgery procedures. In this work, a…
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutaneous approach. The physician incrementally inserts and…
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this procedure has two main limitations: 1) Manual sampling through…
Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…
Segmentation of nodules in thyroid ultrasound imaging plays a crucial role in the detection and treatment of thyroid cancer. However, owing to the diversity of scanner vendors and imaging protocols in different hospitals, the automatic…
Detection, tracking, and pose estimation of surgical instruments are crucial tasks for computer assistance during minimally invasive robotic surgery. In the majority of cases, the first step is the automatic segmentation of surgical tools.…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…
Segmentation of organs or lesions from medical images plays an essential role in many clinical applications such as diagnosis and treatment planning. Though Convolutional Neural Networks (CNN) have achieved the state-of-the-art performance…
This paper aims to tackle the issues on unavailable or insufficient clinical US data and meaningful annotation to enable bone segmentation and registration for US-guided spinal surgery. While the US is not a standard paradigm for spinal…
Effective transperineal ultrasound image guidance in prostate external beam radiotherapy requires consistent alignment between probe and prostate at each session during patient set-up. Probe placement and ultrasound image inter-pretation…
Micro-ultrasound (micro-US) is a novel 29-MHz ultrasound technique that provides 3-4 times higher resolution than traditional ultrasound, potentially enabling low-cost, accurate diagnosis of prostate cancer. Accurate prostate segmentation…
Robot-assisted surgery has made great progress with the development of medical imaging and robotics technology. Medical scene understanding can greatly improve surgical performance while the semantic segmentation of the robotic instrument…
Segmentation of surgical instruments is crucial for enhancing surgeon performance and ensuring patient safety. Conventional techniques such as binary, semantic, and instance segmentation share a common drawback: they do not accommodate the…