相关论文: ESD CYCLOPS: A new robotic surgical system for GI …
The CYCLOPS is a cable-driven parallel mechanism used for minimally invasive applications, with the ability to be customised to different surgical needs; allowing it to be made procedure- and patient-specific. For adequate optimisation,…
Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. For transmission of force to distally mounted endoscopic instruments, robotically actuated tendon…
Robot-assisted Endoscopic Submucosal Dissection (ESD) improves the surgical procedure by providing a more comprehensive view through advanced robotic instruments and bimanual operation, thereby enhancing dissection efficiency and accuracy.…
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the development of more advanced solutions. To address this, DESectBot, a…
In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is emerging as a novel, minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and…
For an autonomous robotic system, monitoring surgeon actions and assisting the main surgeon during a procedure can be very challenging. The challenges come from the peculiar structure of the surgical scene, the greater similarity in…
submucosal dissection (ESD) enables rapid resection of large lesions, minimizing recurrence rates and improving long-term overall survival. Despite these advantages, ESD is technically challenging and carries high risks of complications,…
Dynamic scene reconstruction is essential in robotic minimally invasive surgery, providing crucial spatial information that enhances surgical precision and outcomes. However, existing methods struggle to address the complex, temporally…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
Endoluminal endoscopic procedures are essential for diagnosing colorectal cancer and other severe conditions in the digestive tract, urogenital system, and airways. 3D reconstruction and novel-view synthesis from endoscopic images are…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could…
Gastrointestinal malignancies constitute a leading cause of cancer-related mortality worldwide, with advanced-stage prognosis remaining particularly dismal. Originating as a groundbreaking technique for early gastric cancer treatment,…
Pancreatic cancer is a lethal form of cancer that significantly contributes to cancer-related deaths worldwide. Early detection is essential to improve patient prognosis and survival rates. Despite advances in medical imaging techniques,…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
In this work, we take aim towards increasing the effectiveness of surgical assistant robots. We intended to make assistant robots safer by making them aware about the actions of surgeon, so it can take appropriate assisting actions. In…
Surgical 3D reconstruction is a critical area of research in robotic surgery, with recent works adopting variants of dynamic radiance fields to achieve success in 3D reconstruction of deformable tissues from single-viewpoint videos.…
Endoscopic procedures such as esophagogastroduodenoscopy (EGD) and colonoscopy play a critical role in diagnosing and managing gastrointestinal (GI) disorders. However, the documentation burden associated with these procedures place…
Gynecologic laparoscopy as a type of minimally invasive surgery (MIS) is performed via a live feed of a patient's abdomen surveying the insertion and handling of various instruments for conducting treatment. Adopting this kind of surgical…
Prevalence of gastrointestinal (GI) cancer is growing alarmingly every year leading to a substantial increase in the mortality rate. Endoscopic detection is providing crucial diagnostic support, however, subtle lesions in upper and lower GI…