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Compressed sensing (CS) computed tomography has been proven to be important for several clinical applications, such as sparse-view computed tomography (CT), digital tomosynthesis and interior tomography. Traditional compressed sensing…
Cone-beam computed tomography (CBCT) is an important tool facilitating computer aided interventions, despite often suffering from artifacts that pose challenges for accurate interpretation. While the degraded image quality can affect…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Computed Tomography (CT) based precise prostate segmentation for treatment planning is challenging due to (1) the unclear boundary of the prostate derived from CT's poor soft tissue contrast and (2) the limitation of convolutional neural…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Purpose: The facial recess is a delicate structure that must be protected in minimally invasive cochlear implant surgery. Current research estimates the drill trajectory by using endoscopy of the unique mastoid patterns. However, missing…
Natural language offers a convenient, flexible interface for controlling robotic C-arm X-ray systems, making advanced functionality and controls accessible. However, enabling language interfaces requires specialized AI models that interpret…
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its utility by reducing operator dependence and improving…
The majority of current research in deep learning based image registration addresses inter-patient brain registration with moderate deformation magnitudes. The recent Learn2Reg medical registration benchmark has demonstrated that…
Purpose: Autonomous systems in mechanical thrombectomy (MT) hold promise for reducing procedure times, minimizing radiation exposure, and enhancing patient safety. However, current reinforcement learning (RL) methods only reach the carotid…
Background: Individual skull models of bone density and geometry are important when planning the expected transcranial ultrasound acoustic field and estimating mechanical and thermal safety in low-intensity transcranial ultrasound…
Cochlear Implant (CI) procedures involve performing an invasive mastoidectomy to insert an electrode array into the cochlea. In this paper, we introduce a novel pipeline that is capable of generating synthetic multi-view videos from a…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…
X-ray Computed Tomography (CT) is used to recover the true surfaces of fluid channels and fed to simulation tool (ANSYS) to create accurate cyber environment. The simulation tool also receives CT-assisted multiphase fluid profiles…
Learning-based medical image registration has matched the accuracy of conventional methods while offering superior computational efficiency. However, existing approaches suffer from poor generalization across diverse clinical scenarios,…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
Since the mapping relationship between definitized intra-interventional X-ray and undefined pre-interventional Computed Tomography(CT) is uncertain, auxiliary positioning devices or body markers, such as medical implants, are commonly used…
The human cochlea is a remarkable device, able to discern extremely small amplitude sound pressure waves, and discriminate between very close frequencies. Simulation of the cochlea is computationally challenging due to its complex geometry,…