相关论文: Depth Camera Based Particle Filter for Robotic Ost…
Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more…
Accurate and consistent mental interpretation of fluoroscopy to determine the position and orientation of acetabular bone fragments in 3D space is difficult. We propose a computer assisted approach that uses a single fluoroscopic view and…
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operator variability, robotic ultrasound systems have gained…
In computer-assisted orthopedic surgery (CAOS), accurate pre-operative to intra-operative bone registration is an essential and critical requirement for providing navigational guidance. This registration process is challenging since the…
While micro-CT systems are instrumental in preclinical research, clinical micro-CT imaging has long been desired with cochlear implantation as a primary example. The structural details of the cochlear implant and the temporal bone require a…
Transrectal biopsies under 2D ultrasound (US) control are the current clinical standard for prostate cancer diagnosis. The isoechogenic nature of prostate carcinoma makes it necessary to sample the gland systematically, resulting in a low…
In surgical navigation, finding correspondence between preoperative plan and intraoperative anatomy, the so-called registration task, is imperative. One promising approach is to intraoperatively digitize anatomy and register it with the…
In augmented reality (AR)-guided surgical navigation, preoperative organ models are superimposed onto the patient's intraoperative anatomy to visualize critical structures such as vessels and tumors. Accurate deformation modeling is…
Ultrasound (US) imaging is widely used for diagnosing and monitoring arterial diseases, mainly due to the advantages of being non-invasive, radiation-free, and real-time. In order to provide additional information to assist clinicians in…
Current image-guided prostate radiotherapy often relies on the use of implanted fiducials or transducers for target localization. Fiducial or transducer insertion requires an invasive procedure that adds cost and risks for bleeding,…
Knowing the position of the robot in the world is crucial for navigation. Nowadays, Bayesian filters, such as Kalman and particle-based, are standard approaches in mobile robotics. Recently, end-to-end learning has allowed for scaling-up to…
Plastic scintillation detectors are increasingly used to measure dose distributions in the context of radiotherapy treatments. Their water-equivalence, real-time response and high spatial resolution distinguish them from traditional…
X-ray image based surgical tool navigation is fast and supplies accurate images of deep seated structures. Typically, recovering the 6 DOF rigid pose and deformation of tools with respect to the X-ray camera can be accurately achieved…
Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…
Image registration is an essential process for aligning features of interest from multiple images. With the recent development of deep learning techniques, image registration approaches have advanced to a new level. In this work, we present…
Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
An automatic elastic registration method suited for vascularized organs is proposed. The vasculature in both the preoperative and intra-operative images is represented as a graph. A typical application of this method is the fusion of…
This study considers modern surgical navigation systems based on augmented reality technologies. Augmented reality glasses are used to construct holograms of the patient's organs from MRI and CT data, subsequently transmitted to the…