Related papers: Transformer Based Tissue Classification in Robotic…
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…
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…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
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…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Needle positioning is essential for various medical applications such as epidural anaesthesia. Physicians rely on their instincts while navigating the needle in epidural spaces. Thereby, identifying the tissue structures may be helpful to…
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compensate for needle tip prediction inaccuracies, however none…
Accurate identification of breast cancer types plays a critical role in guiding treatment decisions and improving patient outcomes. This paper presents an artificial intelligence enabled tool designed to aid in the identification of breast…
Needle insertion is common during minimally invasive interventions such as biopsy or brachytherapy. During soft tissue needle insertion, forces acting at the needle tip cause tissue deformation and needle deflection. Accurate needle tip…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
Informed by the success of the transformer model in various computer vision tasks, we design an end-to-end trainable model for the automatic detection and classification of bleeding and non-bleeding frames extracted from Wireless Capsule…
Chronic wounds such as diabetic foot ulcers and pressure injuries require accurate tissue-level assessment to guide treatment planning and monitor healing progression. While deep learning methods have advanced automated wound analysis, most…
Effective recognition of acute and difficult-to-heal wounds is a necessary step in wound diagnosis. An efficient classification model can help wound specialists classify wound types with less financial and time costs and also help in…
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the…
Wound classification is an essential step of wound diagnosis. An efficient classifier can assist wound specialists in classifying wound types with less financial and time costs and help them decide an optimal treatment procedure. This study…
Tissue awareness has a great demand to improve surgical accuracy in minimally invasive procedures. In arthroscopy, it is one of the challenging tasks due to surgical sites exhibit limited features and textures. Moreover, arthroscopic…
Tissue assessment for chronic wounds is the basis of wound grading and selection of treatment approaches. While several image processing approaches have been proposed for automatic wound tissue analysis, there has been a shortcoming in…
Surface material recognition is a key component in robotic perception and physical interaction, particularly when leveraging both tactile and visual sensory inputs. In this work, we propose Surformer v1, a transformer-based architecture…
Automatic nuclei detection and classification can produce effective information for disease diagnosis. Most existing methods classify nuclei independently or do not make full use of the semantic similarity between nuclei and their grouping…