Related papers: Computer-aided planning for zygomatic bone reconst…
Ultrasound imaging has been widely used in clinical examinations owing to the advantages of being portable, real-time, and radiation-free. Considering the potential of extensive deployment of autonomous examination systems in hospitals,…
When delineating lesions from medical images, a human expert can always keep in mind the anatomical structure behind the voxels. However, although high-quality (though not perfect) anatomical information can be retrieved from computed…
Computed Tomography (CT) is an imaging technique where information about an object are collected at different angles (called projections or scans). Then the cross-sectional image showing the internal structure of the slice is produced by…
In this paper we present a methodology to address the problem of brain tissue deformation referred to as 'brain-shift'. This deformation occurs throughout a neurosurgery intervention and strongly alters the accuracy of the neuronavigation…
The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of…
Breast lesion localization using tactile imaging is a new and developing direction in medical science. To achieve the goal, proper image reconstruction and image registration can be a valuable asset. In this paper, a new approach of the…
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…
Transcranial ultrasound must overcome the significant challenge of the human skull, limiting both imaging and therapeutic applications. While high-fidelity numerical simulations can compensate for skull-induced distortions, they require…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
The aim of this paper is to develop a multiscale hierarchical hybrid model based on finite element analysis and neural network computation to link mesoscopic scale (trabecular network level) and macroscopic (whole bone level) to simulate…
Implementation of real-time, continuous, and three-dimensional imaging (4D intervention guidance) would be a quantum leap for minimally-invasive medicine. It allows guidance during interventions by assessing the spatial position of…
Planning of radiotherapy involves accurate segmentation of a large number of organs at risk, i.e. organs for which irradiation doses should be minimized to avoid important side effects of the therapy. We propose a deep learning method for…
OBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with…
Bone is a living material. It adapts, in an optimal sense, to loading by changing its density and trabeculae architecture - a process termed remodelling. Implanted orthopaedic devices can significantly alter the loading on the surrounding…
Cutting planes are of crucial importance when solving nonconvex nonlinear programs to global optimality, for example using the spatial branch-and-bound algorithms. In this paper, we discuss the generation of cutting planes for signomial…
Imitation learning-based robot control policies are enjoying renewed interest in video-based robotics. However, it remains unclear whether this approach applies to X-ray-guided procedures, such as spine instrumentation, with sparse inputs.…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
Surgery planning in patients diagnosed with brain tumor is dependent on their survival prognosis. A poor prognosis might demand for a more aggressive treatment and therapy plan, while a favorable prognosis might enable a less risky surgery…
Objective: State of the art navigation systems for pelvic osteotomies use optical systems with external fiducials. We propose the use of X-Ray navigation for pose estimation of periacetabular fragments without fiducials. Methods: A 2D/3D…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…