Related papers: Automated Robotic Needle Puncture for Percutaneous…
Chest radiographs are frequently used to verify the correct intubation of patients in the emergency room. Fast and accurate identification and localization of the endotracheal (ET) tube is critical for the patient. In this study we propose…
Periacetabular osteotomy is a challenging surgical procedure for treating developmental hip dysplasia, providing greater coverage of the femoral head via relocation of a patient's acetabulum. Since fluoroscopic imaging is frequently used in…
Purpose. Intraoperative Optical Coherence Tomography (iOCT) is an increasingly available imaging technique for ophthalmic microsurgery that provides high-resolution cross-sectional information of the surgical scene. We propose to build on…
Cannulation for hemodialysis is the act of inserting a needle into a surgically created vascular access (e.g., an arteriovenous fistula) for the purpose of dialysis. The main risk associated with cannulation is infiltration, the puncture of…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling…
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can significantly reduce surgeons' fatigue during tele-operated…
Pancreatic duct dilation indicates a high risk of various pancreatic diseases. Segmentation of dilated pancreatic ducts on computed tomography (CT) images shows the potential to assist the early diagnosis, surgical planning and prognosis.…
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of…
Delineation of tumors and organs-at-risk permits detecting and correcting changes in the patients' anatomy throughout the treatment, making it a core step of adaptive proton therapy (APT). Although AI-based auto-contouring technologies have…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
In pathology and legal medicine, the histopathological and microbiological analysis of tissue samples from infected deceased is a valuable information for developing treatment strategies during a pandemic such as COVID-19. However, a…
Recently, joint registration and segmentation has been formulated in a deep learning setting, by the definition of joint loss functions. In this work, we investigate joining these tasks at the architectural level. We propose a registration…
An abdominal aortic aneurysm (AAA) is a focal dilation of the aorta that, if not treated, tends to grow and may rupture. A significant unmet need in the assessment of AAA disease, for the diagnosis, prognosis and follow-up, is the…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
Many robotic tasks are still teleoperated since automating them is very time consuming and expensive. Robot Learning from Demonstrations (RLfD) can reduce programming time and cost. However, conventional RLfD approaches are not directly…
High dose rate brachytherapy (HDR-BT) is an appealing treatment option for superficial cancers that permits the delivery of higher local doses than other radiation modalities without a significant increase in toxicity. In order for HDR-BT…