Related papers: An Anatomy-specific Guidewire Shaping Robot for Im…
During endovascular interventions, physicians have to perform accurate and immediate operations based on the available real-time information, such as the shape and position of guidewires observed on the fluoroscopic images, haptic…
An ever-growing incorporation of AI solutions into clinical practices enhances the efficiency and effectiveness of healthcare services. This paper focuses on guidewire tip tracking tasks during image-guided therapy for cardiovascular…
Identification of intended movement type and movement phase of hand grasp shaping are critical features for the control of volitional neuroprosthetics. We demonstrate that neural dynamics during visually-guided imagined grasp shaping can…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In…
In robot-assisted Fenestrated Endovascular Aortic Repair (FEVAR), accurate alignment of stent graft fenestrations or scallops with aortic branches is essential for establishing complete blood flow perfusion. Current navigation is largely…
Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…
Intraoperative navigation in spine surgery demands millimeter-level accuracy. Currently, this is achieved through radiation-intensive intraoperative imaging and bone-anchored markers that are invasive and disrupt surgical workflow.…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
We present Neural Shape Deformation Priors, a novel method for shape manipulation that predicts mesh deformations of non-rigid objects from user-provided handle movements. State-of-the-art methods cast this problem as an optimization task,…
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.…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
Intraoperative shape reconstruction of organs from endoscopic camera images is a complex yet indispensable technique for image-guided surgery. To address the uncertainty in reconstructing entire shapes from single-viewpoint occluded images,…
Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…
Intensity modulated radiotherapy (IMRT) is one of the most common modalities for treating cancer patients. One of the biggest challenges is precise treatment delivery that accounts for varying motion patterns originating from…
We introduce a shape-sensitive loss function for catheter and guidewire segmentation and utilize it in a vision transformer network to establish a new state-of-the-art result on a large-scale X-ray images dataset. We transform…
State-of-the-art computer- and robot-assisted surgery systems heavily depend on intraoperative imaging technologies such as CT and fluoroscopy to generate detailed 3D visualization of the patient's anatomy. While imaging techniques are…
In this article, we present the work towards improving the overall workflow of the Percutaneous Coronary Interventions (PCI) procedures by capacitating the imaging instruments to precisely monitor the steps of the procedure. In the long…
When executing a certain task, human beings can choose or make an appropriate tool to achieve the task. This research especially addresses the optimization of tool shape for robotic tool-use. We propose a method in which a robot obtains an…
The diffusion of minimally invasive, endovascular interventions motivates the development of visualization methods for complex vascular networks. We propose a planar representation of blood vessel trees which preserves the properties that…