Related papers: SlicerOrbitSurgerySim: An Open-Source Platform for…
While feature association to a global map has significant benefits, to keep the computations from growing exponentially, most lidar-based odometry and mapping methods opt to associate features with local maps at one voxel scale. Taking…
Accurate and efficient simulation of wave equations is crucial in computational wave imaging applications, such as ultrasound computed tomography (USCT), which reconstructs tissue material properties from observed scattered waves.…
Soft-tissue surgeries, such as tumor resections, are complicated by tissue deformations that can obscure the accurate location and shape of tissues. By representing tissue surfaces as point clouds and applying non-rigid point cloud…
Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner.…
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data acquisition, its reliance on monocular…
While cervical arthroplasty using Total Disc Replacement (TDR) implants is an established treatment for persistent neck and arm pain, revision rates limit it from reaching its full potential. To address the underlying complications, we…
Laparoscopic surgery constrains surgeons spatial awareness because procedures are performed through a monocular, two-dimensional (2D) endoscopic view. Conventional training methods using dry-lab models or recorded videos provide limited…
Decision-making for self-adaptation approaches need to address different challenges, including the quantification of the uncertainty of events that cannot be foreseen in advance and their effects, and dealing with conflicting objectives…
Spike sorting algorithms are used to separate extracellular recordings of neuronal populations into single-unit spike activities. The development of customized hardware implementing spike sorting algorithms is burgeoning. However, there is…
Accurate CT-MRI registration of the cervical spine is essential for preoperative planning because this region is anatomically complex,highly variable,and vulnerable to injury of the vertebral arteries and spinal cord. However,cervical…
Background: Segmentation of organs and structures in abdominal MRI is useful for many clinical applications, such as disease diagnosis and radiotherapy. Current approaches have focused on delineating a limited set of abdominal structures…
The recent rise of large language models (LLMs) has resulted in increased efforts towards running LLMs at reduced precision. Running LLMs at lower precision supports resource constraints and furthers their democratization, enabling users to…
With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…
Purpose: To develop and evaluate a dynamic, image-derived patient-specific physical simulation platform for the assessment of left atrioventricular valve (LAVV) repair strategies in pediatric patients with repaired atrioventricular canal…
Within academia and industry, there has been a need for expansive simulation frameworks that include model-based simulation of sensors, mobile vehicles, and the environment around them. To this end, the modular, real-time, and open-source…
Real-time 3D navigation during minimally invasive procedures is an essential yet challenging task, especially when considerable tissue motion is involved. To balance image acquisition speed and resolution, only 2D images or low-resolution…
Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue…
Studying the rapid variability of many astronomical objects is key to understanding the underlying processes at play. However, a combination of limited telescope availability, viewing constraints, and the unpredictable nature of many…
The recently released Segment Anything Model (SAM) has shown powerful zero-shot segmentation capabilities through a semi-automatic annotation setup in which the user can provide a prompt in the form of clicks or bounding boxes. There is…
Physical rehabilitation exercises suggested by healthcare professionals can help recovery from various musculoskeletal disorders and prevent re-injury. However, patients' engagement tends to decrease over time without direct supervision,…