Related papers: Partial-to-Full Registration based on Gradient-SDF…
Neural Signed Distance Fields (SDFs) provide a differentiable environment representation to readily obtain collision checks and well-defined gradients for robot navigation tasks. However, updating neural SDFs as the scene evolves entails…
Robust and accurate 2D/3D registration, which aligns preoperative models with intraoperative images of the same anatomy, is crucial for successful interventional navigation. To mitigate the challenge of a limited field of view in…
The future large adaptive telescopes will trigger new constraints for the calibration of Adaptive Optics (AO) systems equipped with pre-focal Deformable Mirrors (DM). The image of the DM actuators grid as seen by the Wave-Front Sensor (WFS)…
Anatomical variabilities seen in longitudinal data or inter-subject data is usually described by the underlying deformation, captured by non-rigid registration of these images. Stationary Velocity Field (SVF) based non-rigid registration…
The recently proposed Segment Anything Model (SAM) is a general tool for image segmentation, but it requires additional adaptation and careful fine-tuning for medical image segmentation, especially for small, irregularly-shaped, and…
Advanced navigation techniques in image-guided interventions and surgical robotics require the rapid and precise alignment of 3D preoperative volumes (e.g., CT, MRI) to 2D intraoperative images (e.g., X-ray fluoroscopy). However, existing…
Soft-tissue deformation remains a major limitation in image-guided neurosurgery, where intra-operative anatomy can deviate substantially from pre-operative imaging due to brain shift, compromising navigation accuracy and surgical safety.…
Intraoperative navigation in spine surgery demands millimeter-level accuracy. Currently, this is achieved through radiation-intensive intraoperative imaging and bone-anchored markers that are invasive and disrupt surgical workflow.…
We present a novel algorithm for Fast Registration Of image Groups (FROG), applied to large 3D image groups. Our approach extracts 3D SURF keypoints from images, computes matched pairs of keypoints and registers the group by minimizing pair…
Bone surface reconstruction is an essential component of computer-assisted orthopedic surgery(CAOS), forming the foundation for both preoperative planning and intraoperative guidance. Compared to traditional imaging modalities such as…
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with…
This work proposes a multimodal diffeomorphic registration method using Neural Ordinary Differential Equations (Neural ODEs). Nonrigid registration algorithms exhibit tradeoffs between their accuracy, the computational complexity of their…
Real-time 3D navigation during minimally invasive procedures is an essential yet challenging task, especially when considerable tissue motion is involved. To balance image acquisition speed and resolution, only 2D images or low-resolution…
Automatic surgical instrument segmentation of endoscopic images is a crucial building block of many computer-assistance applications for minimally invasive surgery. So far, state-of-the-art approaches completely rely on the availability of…
Signed Distance Fields (SDFs) are a fundamental representation in robot motion planning. Their configuration-space counterpart, the Configuration Space Distance Field (CDF), directly encodes distances in joint space, offering a unified…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
A reliable Ultrasound (US)-to-US registration method to compensate for brain shift would substantially improve Image-Guided Neurological Surgery. Developing such a registration method is very challenging, due to factors such as missing…
Registration of optical and synthetic aperture radar (SAR) remote sensing images serves as a critical foundation for image fusion and visual navigation tasks. This task is particularly challenging because of their modal discrepancy,…
Biological specimens exhibit significant variations in size and shape, challenging autonomous robotic manipulation. We focus on the mouse skull window creation task to illustrate these challenges. The study introduces a microscopic stereo…
Deformable image registration is a fundamental task in medical imaging. Due to the large computational complexity of deformable registration of volumetric images, conventional iterative methods usually face the tradeoff between the…