Related papers: CT-Enabled Patient-Specific Simulation and Contact…
Cochlear implants (CIs) are devices that restore the sense of hearing in people with severe sensorineural hearing loss. An electrode array inserted in the cochlea bypasses the natural transducer mechanism that transforms mechanical sound…
- New advance technologies based on reverse engineering , design and additive manufacturing, have expanded design capabilities for biomedical applications to include Patient Specific Implants (PSI). This change in design paradigms needs…
The goals of this dissertation are to fully automate the image processing techniques needed in the post-operative stage of IGCIP and to perform a thorough analysis of (a) the robustness of the automatic image processing techniques used in…
Chest computed tomography (CT) is central to the detection and management of thoracic disease, yet the growing scale and complexity of volumetric imaging increasingly exceed what can be addressed by scan-level prediction alone. Clinically…
Cortical visual prostheses aim to restore sight by electrically stimulating neurons in early visual cortex (V1). With the emergence of high-density and flexible neural interfaces, electrode placement within three-dimensional cortex has…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…
The cochlear implant (CI) is a successful biomedical device that enables individuals with severe-to-profound hearing loss to perceive sound through electrical stimulation, yet listening in noise remains challenging. Recent deep learning…
We propose an atlas-based method to segment the intracochlear anatomy (ICA) in the post-implantation CT (Post-CT) images of cochlear implant (CI) recipients that preserves the point-to-point correspondence between the meshes in the atlas…
Computed Tomography (CT) takes X-ray measurements on the subjects to reconstruct tomographic images. As X-ray is radioactive, it is desirable to control the total amount of dose of X-ray for safety concerns. Therefore, we can only select a…
Surgical planning for complex tibial fractures can be challenging for surgeons, as the 3D structure of the later desirable bone alignment may be difficult to imagine. To assist in such planning, we address the challenge of predicting a…
Computer-Assisted Interventions enable clinicians to perform precise, minimally invasive procedures, often relying on advanced imaging methods. Cone-beam computed tomography (CBCT) can be used to facilitate computer-assisted interventions,…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Computerized registration between maxillofacial cone-beam computed tomography (CT) images and a scanned dental model is an essential prerequisite in surgical planning for dental implants or orthognathic surgery. We propose a novel method…
Endovascular guidewire manipulation is essential for minimally-invasive clinical applications (Percutaneous Coronary Intervention (PCI), Mechanical thrombectomy techniques for acute ischemic stroke (AIS), or Transjugular intrahepatic…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…
Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven…
Whole-body PET/CT is a cornerstone of oncological imaging, yet accurate lesion segmentation remains challenging due to tracer heterogeneity, physiological uptake, and multi-center variability. While fully automated methods have advanced…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
Spinal fusion surgery requires highly accurate implantation of pedicle screw implants, which must be conducted in critical proximity to vital structures with a limited view of anatomy. Robotic surgery systems have been proposed to improve…
Metal artifacts in computed tomography (CT) arise from a mismatch between physics of image formation and idealized assumptions during tomographic reconstruction. These artifacts are particularly strong around metal implants, inhibiting…