Related papers: CT-Enabled Patient-Specific Simulation and Contact…
Accurate synthesis of computed tomography (CT) images from magnetic resonance imaging (MRI) is clinically valuable for cranial applications such as attenuation correction, radiotherapy planning, and image-guided interventions. However,…
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academic manipulation communities. PiH insertion is in fact an…
During spinal fusion surgery, screws are placed close to critical nerves suggesting the need for highly accurate screw placement. Verifying screw placement on high-quality tomographic imaging is essential. C-arm Cone-beam CT (CBCT) provides…
Robot-assisted surgery has revolutionized the healthcare industry by providing surgeons with greater precision, reducing invasiveness, and improving patient outcomes. However, the success of these surgeries depends heavily on the robotic…
The goal of this work is to propose a robust, fast, and fully automatic method for personalized cranial defect reconstruction and implant modeling. We propose a two-step deep learning-based method using a modified U-Net architecture to…
Optical coherence tomography (OCT) is a micrometer-scale, volumetric imaging modality that has become a clinical standard in ophthalmology. OCT instruments image by raster-scanning a focused light spot across the retina, acquiring…
Objective: To present the first real-time a posteriori error-driven adaptive finite element approach for real-time simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a…
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography (iOCT)- a depth sensor widely used in retinal surgery.…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a…
Surgical training involves didactic teaching, mentor-led learning, surgical skills laboratories, and direct exposure to surgery; however, increasing clinical pressures have limited operating room (OR) exposure. This work leverages virtual…
In traumatic medical emergencies, the patients heavily depend on cranioplasty - the craft of neurocranial repair using cranial implants. Despite the improvements made in recent years, the design of a patient-specific implant (PSI) is among…
Dynamic computed tomography (CT) reconstruction faces significant challenges in addressing motion artifacts, particularly for nonperiodic rapid movements such as cardiac imaging with fast heart rates. Traditional methods struggle with the…
Medical students and junior surgeons often rely on senior surgeons and specialists to answer their questions when learning surgery. However, experts are often busy with clinical and academic work, and have little time to give guidance.…
Industrial insertion tasks are often performed repetitively with parts that are subject to tight tolerances and prone to breakage. Learning an industrial insertion policy in real is challenging as the collision between the parts and the…
Cone-Beam Computed Tomography (CBCT) is widely used for intraoperative imaging due to its rapid acquisition and low radiation dose. However, CBCT images typically suffer from artifacts and lower visual quality compared to conventional…
Precision medicine in the quantitative management of chronic diseases and oncology would be greatly improved if the Computed Tomography (CT) scan of any patient could be segmented, parsed and analyzed in a precise and detailed way. However,…
Computed tomography (CT) examination poses radiation injury to patient. A consensus performing CT imaging is to make the radiation dose as low as reasonably achievable, i.e. the ALARA law. In this paper, we propose an end-to-end learning…
In this contribution, a software system for computer-aided position planning of miniplates to treat facial bone defects is proposed. The intra-operatively used bone plates have to be passively adapted on the underlying bone contours for…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…