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Accurate segmentation of anatomical structures in volumetric medical images is crucial for clinical applications, including disease monitoring and cancer treatment planning. Contemporary interactive segmentation models, such as Segment…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersive 3D interaction and high-fidelity haptics. Here, we…
Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…
Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…
We developed a new aerial push-button with tactile feedback using focused airborne ultrasound. This study has two significant novelties compared to past related studies: 1) ultrasound emitters are equipped behind the user's finger and…
Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…
Medical instrument detection is essential for computer-assisted interventions since it would facilitate the surgeons to find the instrument efficiently with a better interpretation, which leads to a better outcome. This article reviews…
Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material…
Hand gesture recognition allows humans to interact with machines non-verbally, which has a huge application in underwater exploration using autonomous underwater vehicles. Recently, a new gesture-based language called CADDIAN has been…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
The case experience of anesthesiologists is one of the leading causes of accidental dural punctures and failed epidurals - the most common complications of epidural analgesia used for pain relief during delivery. We designed a bimanual…
Instrument-tissue interaction detection task, which helps understand surgical activities, is vital for constructing computer-assisted surgery systems but with many challenges. Firstly, most models represent instrument-tissue interaction in…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…
Purpose: In conventional fluoroscopy-guided interventions, the 2D projective nature of X-ray imaging limits depth perception and leads to prolonged radiation exposure. Virtual fluoroscopy, combined with spatially tracked surgical…
Medical image segmentation plays a crucial role in clinical medicine, serving as a key tool for auxiliary diagnosis, treatment planning, and disease monitoring. However, traditional segmentation methods such as U-Net are often limited by…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…