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In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for laparoscopic…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
This paper describes a learning environment for image-guided prostate biopsies in cancer diagnosis; it is based on an ultrasound probe simulator virtually exploring real datasets obtained from patients. The aim is to make the training of…
Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…
Virtual models are important for training and teaching tools used in medical imaging research. We introduce a workflow that can be used to convert volumetric medical imaging data (as generated by Computer Tomography (CT)) to computer-based…
The distortion of light's degrees of freedom when passing through complex random media is of great interest across a diversity of fields, e.g., scattering in biological studies. Emulating such media in a controlled laboratory setting…
We present a new virtual laboratory developed with COMSOL Multiphysics for the simulation of an acoustic levitator. Our computer application simulates the acoustic pressure field and its interaction with a set of particles. Students can…
3D extended field of views (FOVs) of the internal bladder wall facilitate lesion diagnosis, patient follow-up and treatment traceability. In this paper, we propose a 3D image mosaicing algorithm guided by 2D cystoscopic video-image…
We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…
This paper proposed a hierarchical visible autoencoder in the adaptive phantom limbs generation according to the kinetic behavior of functional body-parts, which are measured by heterogeneous kinetic sensors. The proposed visible…
The possibility of simulating in detail in-vivo experiments could be highly beneficial to the neuroscientific community. It could easily allow for preliminary testing of different experimental conditions without having to be constrained by…
Laser-induced thermotherapy (LITT) is a minimally invasive method causing tumor destruction due to heat ablation and coagulative effects. Computer simulations can play an important role to assist physicians with the planning and monitoring…
We study the problem of peeling a Velcro strap from a surface using a robotic manipulator. The surface geometry is arbitrary and unknown. The robot has access to only the force feedback and its end-effector position. This problem is…
Fecal incontinence, arising from a myriad of pathogenic mechanisms, has attracted considerable global attention. Despite its significance, the replication of the defecatory system for studying fecal incontinence mechanisms remains limited…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Surgical treatment for prostate cancer often involves organ removal, i.e., prostatectomy. Pathology reports on these specimens convey treatment-relevant information. Beyond these reports, the diagnostic process generates extensive and…
Computer-aided surgery intensively uses the concept of navigation: after having collected CT data from a patient and transferred them to the operating room coordinate system, the surgical instrument (a puncture needle for instance) is…
Phantom devices allow the human variable to be controlled for in order to allow clear comparison and validation of biomedical imaging hardware and software. There is currently no standard phantom for electroencephalography (EEG). To be…
Computer-assisted surgery has been developed to enhance surgery correctness and safety. However, researchers and engineers suffer from limited annotated data to develop and train better algorithms. Consequently, the development of…
Recent advances in distance-based protein folding have led to a paradigm shift in protein structure prediction. Through sufficiently precise estimation of the inter-residue distance matrix for a protein sequence, it is now feasible to…