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Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requires intuitive 3D visualization with reliable depth cues,…
We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particularly foundation models, have demonstrated promising…
Real-time Stereo Matching is a cornerstone algorithm for many Extended Reality (XR) applications, such as indoor 3D understanding, video pass-through, and mixed-reality games. Despite significant advancements in deep stereo methods,…
We propose manvr3d, a novel VR-ready platform for interactive human-in-the-loop cell tracking. We utilize VR controllers and eye-tracking hardware to facilitate rapid ground truth generation and proofreading for deep learning-based cell…
We present a novel approach to reconstruction of 3D cardiac motion from sparse intraoperative data. While existing methods can accurately reconstruct 3D organ geometries from full 3D volumetric imaging, they cannot be used during surgical…
Cardiac Magnetic Resonance (CMR) imaging serves as the gold-standard for evaluating cardiac morphology and function. Typically, a multi-view CMR stack, covering short-axis (SA) and 2/3/4-chamber long-axis (LA) views, is acquired for a…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…
The aim of this study is to use image-processing techniques developed in the field of astrophysics as inspiration for a novel approach to the three-dimensional (3D) imaging of periprocedural medical data, with the intention of providing…
3D motion estimation from cine cardiac magnetic resonance (CMR) images is important for the assessment of cardiac function and the diagnosis of cardiovascular diseases. Current state-of-the art methods focus on estimating dense…
Robot-guided catheter insertion has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate and reliable segmentation of anatomical landmarks in the body.…
In intensive care units (ICUs), critically ill patients are monitored with electroencephalograms (EEGs) to prevent serious brain injury. The number of patients who can be monitored is constrained by the availability of trained physicians to…
With the rising prevalence of autism diagnoses, it is essential for research to understand how to leverage technology to support the diverse nature of autistic traits. While traditional interventions focused on technology for medical cure…
Augmented reality has the potential to improve operating room workflow by allowing physicians to "see" inside a patient through the projection of imaging directly onto the surgical field. For this to be useful the acquired imaging must be…
Although eye-tracking technology is being integrated into more VR and MR headsets, the true potential of eye tracking in enhancing user interactions within XR settings remains relatively untapped. Presently, one of the most prevalent gaze…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
With the growing popularity of robotic surgery, education becomes increasingly important and urgently needed for the sake of patient safety. However, experienced surgeons have limited accessibility due to their busy clinical schedule or…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…
This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate…
Cardiac motion tracking from echocardiography can be used to estimate and quantify myocardial motion within a cardiac cycle. It is a cost-efficient and effective approach for assessing myocardial function. However, ultrasound imaging has…
While micro-CT systems are instrumental in preclinical research, clinical micro-CT imaging has long been desired with cochlear implantation as a primary example. The structural details of the cochlear implant and the temporal bone require a…