Related papers: EasyREG: Easy Depth-Based Markerless Registration …

Augmented Reality (AR) brings immersive experiences to users. With recent advances in computer vision and mobile computing, AR has scaled across platforms, and has increased adoption in major products. One of the key challenges in enabling…

Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…

Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…

Medical image registration is an active research topic and forms a basis for many medical image analysis tasks. Although image registration is a rather general concept specialized methods are usually required to target a specific…

Consumer-grade RGB-D imaging for intraoperative orthopedic tissue tracking is a promising method with high translational potential. Unlike bone-mounted tracking devices, markerless tracking can reduce operating time and complexity. However,…

Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…

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…

Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…

Traditional approaches to extrinsic calibration use fiducial markers and learning-based approaches rely heavily on simulation data. In this work, we present a learning-based markerless extrinsic calibration system that uses a depth camera…

During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…

Deformable image registration is a fundamental problem in the field of medical image analysis. During the last years, we have witnessed the advent of deep learning-based image registration methods which achieve state-of-the-art performance,…

In developing medical interventions using untethered milli- and microrobots, ensuring safety and effectiveness relies on robust methods for detection, real-time tracking, and precise localization within the body. However, the inherent…

Deep learning-based medical image registration and segmentation joint models utilize the complementarity (augmentation data or weakly supervised data from registration, region constraints from segmentation) to bring mutual improvement in…

Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…

Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…

Since the mapping relationship between definitized intra-interventional X-ray and undefined pre-interventional Computed Tomography(CT) is uncertain, auxiliary positioning devices or body markers, such as medical implants, are commonly used…

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.…

Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…

We introduce SparseVM, a method that registers clinical-quality 3D MR scans both faster and more accurately than previously possible. Deformable alignment, or registration, of clinical scans is a fundamental task for many clinical…

Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…