Related papers: Comparative Analysis of Autonomous Robotic and Man…
Background: Ultrasound (US) imaging for scoliosis assessment is challenging for a non-experienced operator. The robotic scanning was developed to follow a spinal curvature with deep learning and apply consistent forces to the patient' back.…
Mandibular Angle Split Osteotomy (MASO) is a significant procedure in oral and maxillofacial surgery. Despite advances in technique and instrumentation, its success still relies heavily on the surgeon's experience. In this work, a…
Ultrasound (US) is one of the most widely used modalities for clinical intervention and diagnosis due to the merits of providing non-invasive, radiation-free, and real-time images. However, free-hand US examinations are highly…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…
Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, often leading to inconsistent results and increased physical demand on sonographers. Robotic Ultrasound Systems (RUSS) aim to address these…
Ultrasound (US) imaging is increasingly used in spinal procedures due to its real-time, radiation-free capabilities; however, its effectiveness is hindered by shadowing artifacts that obscure deeper tissue structures. Traditional…
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operator variability, robotic ultrasound systems have gained…
Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF…
Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. However, due to anatomical and physiological variations…
Ultrasound is a vital imaging modality utilized for a variety of diagnostic and interventional procedures. However, an expert sonographer is required to make accurate maneuvers of the probe over the human body while making sense of the…
Robotic ultrasound has advanced local image-driven control, contact regulation, and view optimization, yet current systems lack the anatomical understanding needed to determine what to scan, where to begin, and how to adapt to individual…
The scoliosis progression in adolescents requires close monitoring to timely take treatment measures. Ultrasound imaging is a radiation-free and low-cost alternative in scoliosis assessment to X-rays, which are typically used in clinical…
Vascular anastomosis, the surgical connection of blood vessels, is essential in procedures such as organ transplants and reconstructive surgeries. The precision required limits accessibility due to the extensive training needed, with manual…
Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…