Related papers: Virtual Fluoroscopy for Interventional Guidance us…
Hybrid X-ray and magnetic resonance (MR) imaging promises large potential in interventional medical imaging applications due to the broad variety of contrast of MRI combined with fast imaging of X-ray-based modalities. To fully utilize the…
Deep Learning-based 2D/3D registration enables fast, robust, and accurate X-ray to CT image fusion when large annotated paired datasets are available for training. However, the need for paired CT volume and X-ray images with ground truth…
Point tracking aims to identify the same physical point across video frames and serves as a geometry-aware representation of motion. This representation supports a wide range of applications, from robotics to augmented reality, by enabling…
Tracking cells in 3D at high speed continues to attract extensive attention for many biomedical applications, such as monitoring immune cell migration and observing tumor metastasis in flowing blood vessels. Here, we propose a deep…
Providing intelligent support to surgical teams is a key frontier in automated surgical scene understanding, with the long-term goal of improving patient outcomes. Developing personalized intelligence for all staff members requires…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Interventional C-arm imaging is crucial to percutaneous orthopedic procedures as it enables the surgeon to monitor the progress of surgery on the anatomy level. Minimally invasive interventions require repeated acquisition of X-ray images…
Eye tracking is an important tool with a wide range of applications in Virtual, Augmented, and Mixed Reality (VR/AR/MR) technologies. State-of-the-art eye tracking methods are either reflection-based and track reflections of sparse point…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice…
Accurate and reliable C-arm positioning is essential for fluoroscopy-guided interventions. However, clinical workflows rely on manual alignment that increases radiation exposure and procedural delays. In this work, we present a pipeline…
Computer-aided surgery intensively uses the concept of navigation: after having collected CT data from a patient and transferred them to the operating room coordinate system, the surgical instrument (a puncture needle for instance) is…
In clinical procedures of angioplasty (i.e., open clogged coronary arteries), devices such as balloons and stents need to be placed and expanded in arteries under the guidance of X-ray fluoroscopy. Due to the limitation of X-ray dose, the…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
Real-time tracking is an important problem in computer vision in which most methods are based on the conventional cameras. Neuromorphic vision is a concept defined by incorporating neuromorphic vision sensors such as silicon retinas in…
Motion information from 4D medical imaging offers critical insights into dynamic changes in patient anatomy for clinical assessments and radiotherapy planning and, thereby, enhances the capabilities of 3D image analysis. However, inherent…
Purpose: Delineating tumor boundaries during breast-conserving surgery is challenging as tumors are often highly mobile, non-palpable, and have irregularly shaped borders. To address these challenges, we introduce a cooperative robotic…
Ultrasound technology enables safe, non-invasive imaging of dynamic tissue behavior, making it a valuable tool in medicine, biomechanics, and sports science. However, accurately tracking tissue motion in B-mode ultrasound remains…
Intra-operative 2D-3D registration of X-ray images with pre-operatively acquired CT scans is a crucial procedure in orthopedic surgeries. Anatomical landmarks pre-annotated in the CT volume can be detected in X-ray images to establish 2D-3D…
This paper presents an extension to visual inertial odometry (VIO) by introducing tightly-coupled fusion of magnetometer measurements. A sliding window of keyframes is optimized by minimizing re-projection errors, relative inertial errors,…