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Objective: Mapping of transrectal ultrasonographic (TRUS) prostate biopsies is of fundamental importance for either diagnostic purposes or the management and treatment of prostate cancer, but the localization of the cores seems inaccurate.…
Background: Precise breast ultrasound (BUS) segmentation supports reliable measurement, quantitative analysis, and downstream classification, yet remains difficult for small or low-contrast lesions with fuzzy margins and speckle noise. Text…
Gaze estimation encounters generalization challenges when dealing with out-of-distribution data. To address this problem, recent methods use neural radiance fields (NeRF) to generate augmented data. However, existing methods based on NeRF…
Purpose: Intra-Cardiac Echocardiography (ICE) is a powerful imaging modality for guiding cardiac electrophysiology and structural heart interventions. ICE provides real-time observation of anatomy and devices, while enabling direct…
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…
Ultrasound (US) imaging is one of the most commonly used non-invasive imaging techniques. However, US image acquisition requires simultaneous guidance of the transducer and interpretation of images, which is a highly challenging task that…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Ultrasonography is a vital component of modern clinical care, with handheld probes routinely used for diagnostic imaging and procedural guidance. However, handheld ultrasound imaging is limited by factors such as the partial-cross-sectional…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…
This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such…
Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Human eye gaze detection plays an important role in various fields, including human-computer interaction, virtual reality and cognitive science. Although different relatively accurate systems of eye tracking and gaze detection exist, they…
Transcranial ultrasound (TUS) has emerged as a promising tool in clinical and research settings due to its potential to modulate neuronal activity, open the blood-brain barrier, facilitate targeted drug delivery via nanoparticles, and…
Human gaze is known to be a strong indicator of underlying human intentions and goals during manipulation tasks. This work studies gaze patterns of human teachers demonstrating tasks to robots and proposes ways in which such patterns can be…
Analyzing ultrasonic vocalizations (USVs) is crucial for understanding rodents' affective states and social behaviors, but the manual analysis is time-consuming and prone to errors. Automated USV detection systems have been developed to…
Accurate cardiac ultrasound segmentation is essential for reliable assessment of ventricular function in intelligent healthcare systems. However, echocardiographic images are challenging due to low contrast, speckle noise, irregular…
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.…