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In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…
Lung cancer is highly lethal, emphasizing the critical need for early detection. However, identifying lung nodules poses significant challenges for radiologists, who rely heavily on their expertise for accurate diagnosis. To address this…
Mechanical properties of biological tissue for both histological and pathological considerations are often required in disease diagnostics. Such properties can be simulated and explored with haptic technology. Development of cost effective…
Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of…
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately…
We demonstrate that a simple, unscanned polarization-sensitive optical coherence tomography needle probe can be used to perform layer identification in biological tissues. Broadband light from a laser centered at 1310 nm was sent through a…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Biological matrices are rich in information related to life processes, serving as invaluable media for assessing an individual's overall physiological status and its dynamic fluctuations, as well as crucial foundations for disease…
Digital pathology has emerged as a transformative approach to tissue analysis, offering unprecedented opportunities for objective, quantitative assessment of histopathological features. However, the complexity of implementing artificial…
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…
Despite the recent success of deep learning methods at achieving new state-of-the-art accuracy for medical image segmentation, some major limitations are still restricting their deployment into clinics. One major limitation of deep…
This review article discusses current technological advances in biomedical devices,emphasizing cardiovascular and ophthalmic application diagnostic,monitoring, and prosthetic instruments and systems. The scope encompasses various aspects,…
Flexible fiber-optic endoscopes provide a minimally-invasive solution for imaging at depths beyond the reach of conventional microscopes. Current endoscopes require focusing and/or scanning mechanisms at the distal end, which limit…
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…
Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment…
Brachytherapy for localized prostate cancer consists in destroying cancer by introducing iodine radioactive seeds into the gland through hollow needles. The planning of the position of the seeds and their introduction into the prostate is…
Assessing the condition and visibility of veins is a crucial step before obtaining intravenous access in the antecubital fossa, which is a common procedure to draw blood or administer intravenous therapies (IV therapies). Even though…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
In the 80's, biomechanicians were asked to work on Computer Aided Surgery applications since orthopaedic surgeons were looking for numerical tools able to predict risks of fractures. More recently, biomechanicians started to address soft…