Related papers: High-Precision Surgical Robotic System for Intraoc…
Automatic motion compensation and adjustment of an intraoperative imaging modality's field of view is a common problem during interventions. Optical coherence tomography (OCT) is an imaging modality which is used in interventions due to its…
Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…
Image-based tracking of laparoscopic instruments plays a fundamental role in computer and robotic-assisted surgeries by aiding surgeons and increasing patient safety. Computer vision contests, such as the Robust Medical Instrument…
Intravascular polarimetry with catheter-based polarization-sensitive optical coherence tomography (PS-OCT) complements the high-resolution structural tomograms of OCT with morphological contrast available through polarimetry. Its clinical…
Fiber-form optics extends the high-resolution tomographic imaging capabilities of Optical Coherence Tomography (OCT) to the inside of the human body, i.e., endoscopic OCT. However, it still faces challenges due to the trade-off between…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
A recent advance in optical coherence tomography (OCT), termed swept-source OCT, is generalized into a new technique, Fourier-domain OCT. It represents a realization of a full-field OCT system in place of the conventional serial image…
Purpose: To develop an open-source, fully-automatic deep learning algorithm, DeepGPET, for choroid region segmentation in optical coherence tomography (OCT) data. Methods: We used a dataset of 715 OCT B-scans (82 subjects, 115 eyes) from 3…
Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making.…
Background: While intravascular imaging, particularly optical coherence tomography (OCT), improves percutaneous coronary intervention (PCI) outcomes, its interpretation is operator-dependent. General-purpose artificial intelligence (AI)…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
For decades, three-dimensional C-arm Cone-Beam Computed Tomography (CBCT) imaging system has been a critical component for complex vascular and nonvascular interventional procedures. While it can significantly improve multiplanar soft…
Integrating all optical components of an optical coherence tomography (OCT) device into a single chip is a non-trivial and a challenging job. The design and development of such a lab-on-a chip will be possible only via…
We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transformation between the robot base and the camera frame is…