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We propose a fast beam orientation selection method, based on deep neural networks (DNN), capable of developing a plan comparable to those by the state-of-the-art column generation method. The novelty of Our model lies in its supervised…
Precise segmentation of bladder walls and tumor regions is an essential step towards non-invasive identification of tumor stage and grade, which is critical for treatment decision and prognosis of patients with bladder cancer (BC). However,…
Prostate biopsies are mainly performed under 2D TransRectal UltraSound (TRUS) control by sampling the prostate according to a predefined pattern. In case of first biopsies, this pattern follows a random systematic plan. Sometimes, repeat…
Radiological imaging of prostate is becoming more popular among researchers and clinicians in searching for diseases, primarily cancer. Scans might be acquired at different times, with patient movement between scans, or with different…
Automatic prostate segmentation in transrectal ultrasound (TRUS) images is of essential importance for image-guided prostate interventions and treatment planning. However, developing such automatic solutions remains very challenging due to…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
Precise determination of target is an essential procedure in prostate interventions, such as the prostate biopsy, lesion detection and targeted therapy. However, the prostate delineation may be tough in some cases due to tissue ambiguity or…
Particle tracking microrheology (PT-$\mu$r) exploits the thermal motion of embedded particles to probe the local mechanical properties of soft materials. Despite its appealing conceptual simplicity, PT-$\mu$r requires calibration procedures…
Current image-guided prostate radiotherapy often relies on the use of implanted fiducials or transducers for target localization. Fiducial or transducer insertion requires an invasive procedure that adds cost and risks for bleeding,…
The increasing prevalence of prostate cancer has led to the widespread adoption of Robotic-Assisted Surgery (RAS) as a treatment option. Sentinel lymph node biopsy (SLNB) is a crucial component of prostate cancer surgery and requires…
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…
Computed Tomography (CT) based precise prostate segmentation for treatment planning is challenging due to (1) the unclear boundary of the prostate derived from CT's poor soft tissue contrast and (2) the limitation of convolutional neural…
Boundary incompleteness raises great challenges to automatic prostate segmentation in ultrasound images. Shape prior can provide strong guidance in estimating the missing boundary, but traditional shape models often suffer from hand-crafted…
Randomized iterative methods have gained recent interest in machine learning and signal processing for solving large-scale linear systems. One such example is the randomized Douglas-Rachford (RDR) method, which updates the iterate by…
Fetal magnetic resonance imaging (MRI) is challenged by uncontrollable, large, and irregular fetal movements. It is, therefore, performed through visual monitoring of fetal motion and repeated acquisitions to ensure diagnostic-quality…
Modern cancer genomics datasets involve widely varying sizes and scales, measurement variables, and correlation structures. A fundamental analytical goal in these high-throughput studies is the development of general statistical techniques…
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately…
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.…
Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplifying assumptions, e.g. moves of uniform duration, cardinal…
Medical image registration and segmentation are two of the most frequent tasks in medical image analysis. As these tasks are complementary and correlated, it would be beneficial to apply them simultaneously in a joint manner. In this paper,…