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A simulation of an atomic force microscope operating in the constant amplitude dynamic mode is described. The implementation mimics the electronics of a real setup including a digital phase-locked loop (PLL). The PLL is not only used as a…
High-dose-rate brachytherapy is a tumor treatment method where a highly radioactive source is brought in close proximity to the tumor. In this paper we develop a simulated annealing algorithm to optimize the dwell times at preselected dwell…
A Dense Plasma Focus (DPF) is a pulsed-power machine that electromagnetically accelerates and cylindrically compresses a shocked plasma in a Z-pinch. The pinch results in a brief (about 100 nanosecond) pulse of X-rays, and, for some working…
Validation of deformable image registration techniques is extremely important, but hard, especially when complex deformations or content mismatch are involved. These complex deformations and content mismatch, for example, occur after the…
OBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with…
The Segment Anything Model (SAM) has recently demonstrated significant potential in medical image segmentation. Although SAM is primarily trained on 2D images, attempts have been made to apply it to 3D medical image segmentation. However,…
Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter-operator variability and inconsistent image acquisition…
A statistical volumetric model, showing the probability map of localized prostate cancer within the host anatomical structure, has been developed from 90 optically-imaged surgical specimens. This master model permits an accurate…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
Misdiagnosis can result in delayed treatment and patient harm. Robotic patient simulators (robopatients) provide a controlled framework for training and evaluating clinicians in rare and complex cases. We investigate auditory tactile…
We propose and test stable algorithms for the reconstruction of the internal conductivity of a biological object using acousto-electric measurements. Namely, the conventional impedance tomography scheme is supplemented by scanning the…
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…
Recent advances in generative video modeling, driven by large-scale datasets and powerful architectures, have yielded remarkable visual realism. However, emerging evidence suggests that simply scaling data and model size does not endow…
Existing household robots have made significant progress in performing routine tasks, such as cleaning floors or delivering objects. However, a key limitation of these robots is their inability to recognize potential problems or dangers in…
Volumetric segmentation is important in medical imaging, but current methods face challenges like requiring lots of manual annotations and being tailored to specific tasks, which limits their versatility. General segmentation models used…
This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degrees…
Promptable foundation models, particularly Segment Anything Model (SAM), have emerged as a promising alternative to the traditional task-specific supervised learning for image segmentation. However, many evaluation studies have found that…