Related papers: Online Topological Localization for Navigation Ass…
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…
During tumor resection surgery, surgeons rely on neuronavigation to locate tumors and other critical structures in the brain. Most neuronavigation is based on preoperative images, such as MRI and ultrasound, to navigate through the brain.…
We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
Localization of anatomical structures is a prerequisite for many tasks in medical image analysis. We propose a method for automatic localization of one or more anatomical structures in 3D medical images through detection of their presence…
Segmentation of tubular structures in vascular imaging is a well studied task, although it is rare that we try to infuse knowledge of the tree-like structure of the regions to be detected. Our work focuses on detecting the important…
Augmented Reality (AR) surgical navigation systems are emerging as the next generation of intraoperative surgical guidance, promising to overcome limitations of traditional navigation systems. However, known issues with AR depth perception…
Computer-aided pathology detection algorithms for video-based imaging modalities must accurately interpret complex spatiotemporal information by integrating findings across multiple frames. Current state-of-the-art methods operate by…
Airway segmentation on CT scans is critical for pulmonary disease diagnosis and endobronchial navigation. Manual extraction of airway requires strenuous efforts due to the complicated structure and various appearance of airway. For…
The precise delineation of blood vessels in medical images is critical for many clinical applications, including pathology detection and surgical planning. However, fully-automated vascular segmentation is challenging because of the…
Because of the significance of bronchial lesions as indicators of early lung cancer and squamous cell carcinoma, a critical need exists for early detection of bronchial lesions. Autofluorescence bronchoscopy (AFB) is a primary modality used…
The Anterior Cruciate Ligament (ACL) tear is a common medical condition that is treated using arthroscopy by pulling a tissue graft through a tunnel opened with a drill. The correct anatomical position and orientation of this tunnel is…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
Accurate airway extraction from computed tomography (CT) images is a critical step for planning navigation bronchoscopy and quantitative assessment of airway-related chronic obstructive pulmonary disease (COPD). The existing methods are…
Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the…
Medical tubular anatomical structures are inherently three-dimensional conduits with lumens, enclosing walls, and complex branching topologies. Accurate reconstruction of their geometry and topology is crucial for applications such as…
Colorectal cancer screening through colonoscopy continues to be the dominant global standard, as it allows identifying pre-cancerous or adenomatous lesions and provides the ability to remove them during the procedure itself. Nevertheless,…
Automatic vertebrae identification and localization from arbitrary CT images is challenging. Vertebrae usually share similar morphological appearance. Because of pathology and the arbitrary field-of-view of CT scans, one can hardly rely on…
Accurate visualization of interventional devices, such as medical needles, is essential for the safe and effective guidance of minimally invasive procedures. Ultrasound (US) imaging is widely used for needle guidance, but the…
In this paper, we present a novel approach to navigating endoluminal channels, specifically within the bronchial tubes, using Q-learning, a reinforcement learning algorithm. The proposed method involves training a Q-learning agent to…
Endotracheal intubation is a critical yet technically demanding procedure, with failure or improper tube placement leading to severe complications. Existing robotic and teleoperated intubation systems primarily focus on airway navigation…