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Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prolonged procedure times, and radiation exposure. Robotic…
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…
Automatic quantification of perifoveal vessel densities in optical coherence tomography angiography (OCT-A) images face challenges such as variable intra- and inter-image signal to noise ratios, projection artefacts from outer vasculature…
Optical coherence tomography (OCT) is widely used for diagnosing and monitoring retinal diseases, such as age-related macular degeneration (AMD). The segmentation of biomarkers such as layers and lesions is essential for patient diagnosis…
The goal of this work is to propose a robust, fast, and fully automatic method for personalized cranial defect reconstruction and implant modeling. We propose a two-step deep learning-based method using a modified U-Net architecture to…
In situ tissue biopsy with an endoluminal catheter is an efficient approach for disease diagnosis, featuring low invasiveness and few complications. However, the endoluminal catheter struggles to adjust the biopsy direction by distal…
Endovascular procedures have revolutionized vascular disease treatment, yet their manual execution is challenged by the demands for high precision, operator fatigue, and radiation exposure. Robotic systems have emerged as transformative…
A technological revolution is occurring in the field of robotics with the data-driven deep learning technology. However, building datasets for each local robot is laborious. Meanwhile, data islands between local robots make data unable to…
Image segmentation plays an essential role in medicine for both diagnostic and interventional tasks. Segmentation approaches are either manual, semi-automated or fully-automated. Manual segmentation offers full control over the quality of…
Despite the revolutionary impact of AI and the development of locally trained algorithms, achieving widespread generalized learning from multi-modal data in medical AI remains a significant challenge. This gap hinders the practical…
Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven…
This study introduces a groundbreaking optical coherence tomography (OCT) imaging system dedicated for high-throughput screening applications using ex vivo tissue culture. Leveraging OCT's non-invasive, high-resolution capabilities, the…
In this work, we propose an advanced AI based grading system for OCT images. The proposed system is a very deep fully convolutional attentive classification network trained with end to end advanced transfer learning with online random…
Robot-assisted surgical systems have demonstrated significant potential in enhancing surgical precision and minimizing human errors. However, existing systems cannot accommodate individual surgeons' unique preferences and requirements.…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…
Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system for CT guided…
Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
Ultrasound robots are increasingly used in medical diagnostics and early disease screening. However, current ultrasound robots lack the intelligence to understand human intentions and instructions, hindering autonomous ultrasound scanning.…