Related papers: Robotic CBCT Meets Robotic Ultrasound
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion caused by physiological factors such as respiration and…
Purpose: Ultrasound-guided needle interventions are widely used in clinical practice, but their success critically depends on accurate needle placement, which is frequently hindered by the poor and intermittent visibility of needles in…
Ultrasound (US) imaging is a vital adjunct to mammography in breast cancer screening and diagnosis, but its reliance on hand-held transducers often lacks repeatability and heavily depends on sonographers' skills. Integrating US systems from…
High-fidelity 3D tooth models are essential for digital dentistry, but must capture both the detailed crown and the complete root. Clinical imaging modalities are limited: Cone-Beam Computed Tomography (CBCT) captures the root but has a…
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
With the increasing use of surgical robots in clinical practice, enhancing their ability to process multimodal medical images has become a key research challenge. Although traditional medical image fusion methods have made progress in…
Coronary computed tomography angiography (CCTA) provides 3D information on obstructive coronary artery disease, but cannot fully visualize high-resolution features within the vessel wall. Intravascular imaging, in contrast, can spatially…
Ultrasonography has revolutionized non-invasive diagnostic methodologies, significantly enhancing patient outcomes across various medical domains. Despite its advancements, integrating ultrasound technology with robotic systems for…
During spinal fusion surgery, screws are placed close to critical nerves suggesting the need for highly accurate screw placement. Verifying screw placement on high-quality tomographic imaging is essential. C-arm Cone-beam CT (CBCT) provides…
Surgical navigation based on multimodal image registration has played a significant role in providing intraoperative guidance to surgeons by showing the relative position of the target area to critical anatomical structures during surgery.…
Digital Breast Tomosynthesis (DBT) provides an insight into the fine details of normal fibroglandular tissues and abnormal lesions by reconstructing a pseudo-3D image of the breast. In this respect, DBT overcomes a major limitation of…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…
Purpose: Ultrasound is the most commonly used medical imaging modality for diagnosis and screening in clinical practice. Due to its safety profile, noninvasive nature and portability, ultrasound is the primary imaging modality for fetal…
In trauma and critical care settings, rapid and precise intravascular access is key to patients' survival. Our research aims at ensuring this access, even when skilled medical personnel are not readily available. Vessel bifurcations are…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
Multi-spectral optoacoustic tomography (MSOT) is an emerging optical imaging method providing multiplex molecular and functional information from the rodent brain. It can be greatly augmented by magnetic resonance imaging (MRI) that offers…
Non-rigid inter-modality registration can facilitate accurate information fusion from different modalities, but it is challenging due to the very different image appearances across modalities. In this paper, we propose to train a non-rigid…
Insertion tasks in robotic manipulation demand precise, contact-rich interactions that vision alone cannot resolve. While tactile feedback is intuitively valuable, existing studies have shown that na\"ive visuo-tactile fusion often fails to…
Cone-beam CT (CBCT) is installed in the treatment room to facilitate online clinical applications, including image guidance in radiation and surgery. Half-fan and short-can are the commonly used modes in clinical applications to expand the…
This paper aims to tackle the issues on unavailable or insufficient clinical US data and meaningful annotation to enable bone segmentation and registration for US-guided spinal surgery. While the US is not a standard paradigm for spinal…