Related papers: SlicerOrbitSurgerySim: An Open-Source Platform for…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
Efficient and accurate multi-organ segmentation from abdominal CT volumes is a fundamental challenge in medical image analysis. Existing 3D segmentation approaches are computationally and memory intensive, often processing entire volumes…
Volumetric measurements are known to provide more information when it comes to segmenting tumors, in comparison to one- and two-dimensional measurements, and thus can lead to better informed therapy. In this work, we review the free and…
Multiplication is an indispensable operation in most of digital signal processing systems. Recently, many systems need to execute different types of algorithms on a multiplier. Therefore, it needs complicated computation and large area…
Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…
Advances in computer vision, particularly in optical image-based 3D reconstruction and feature matching, enable applications like marker-less surgical navigation and digitization of surgery. However, their development is hindered by a lack…
This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
Clinicians benefit from online treatment planning systems, through off-site accessibility, data sharing and professional interaction. As well as enhancing clinical value, incorporation of simulation tools affords innovative avenues for…
Advanced navigation techniques in image-guided interventions and surgical robotics require the rapid and precise alignment of 3D preoperative volumes (e.g., CT, MRI) to 2D intraoperative images (e.g., X-ray fluoroscopy). However, existing…
Purpose: Recent advances in Surgical Data Science (SDS) have contributed to an increase in video recordings from hospital environments. While methods such as surgical workflow recognition show potential in increasing the quality of patient…
Simulation of arterial stenting procedures prior to intervention allows for appropriate device selection as well as highlights potential complications. To this end, we present a framework for facilitating virtual aortic stenting from a…
The automatic classification of 3D medical data is memory-intensive. Also, variations in the number of slices between samples is common. Na\"ive solutions such as subsampling can solve these problems, but at the cost of potentially…
We propose OptCtrlPoints, a data-driven framework designed to identify the optimal sparse set of control points for reproducing target shapes using biharmonic 3D shape deformation. Control-point-based 3D deformation methods are widely…
Background: Increasingly, decision-making in healthcare relies on computer models, be it clinical prediction models at point of care or decision-analytic models at the policymaking level. Given the important role models play in both…
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a Terrestrial LiDAR Scanner (TLS). The…
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…