相关论文: Autonomously Navigating a Surgical Tool Inside the…
Deep learning has become the gold standard for image processing over the past decade. Simultaneously, we have seen growing interest in orbital activities such as satellite servicing and debris removal that depend on proximity operations…
Purpose: Autonomous systems in mechanical thrombectomy (MT) hold promise for reducing procedure times, minimizing radiation exposure, and enhancing patient safety. However, current reinforcement learning (RL) methods only reach the carotid…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…
Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…
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…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
Many minimally invasive procedures, such as core needle biopsy of focal liver lesions, nerve blocks, and fetal and vascular interventions, are typically performed under ultrasound guidance, which provides real-time, high-resolution…
Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…
Automatic segmentation of retina vessels plays a pivotal role in clinical diagnosis of prevalent eye diseases, such as, Diabetic Retinopathy or Age-related Macular Degeneration. Due to the complex construction of blood vessels, with…
Purpose: Preoperative imaging plays a pivotal role in sinus surgery where CTs offer patient-specific insights of complex anatomy, enabling real-time intraoperative navigation to complement endoscopy imaging. However, surgery elicits…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
Retinal artery/vein (A/V) classification plays a critical role in the clinical biomarker study of how various systemic and cardiovascular diseases affect the retinal vessels. Conventional methods of automated A/V classification are…
Deep learning has emerged as a powerful artificial intelligence tool to interpret medical images for a growing variety of applications. However, the paucity of medical imaging data with high-quality annotations that is necessary for…
Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…
Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…
Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…
Surgical training in medical school residency programs has followed the apprenticeship model. The learning and assessment process is inherently subjective and time-consuming. Thus, there is a need for objective methods to assess surgical…
Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…
Automatic analysis of retinal blood images is of vital importance in diagnosis tasks of retinopathy. Segmenting vessels accurately is a fundamental step in analysing retinal images. However, it is usually difficult due to various imaging…