相关论文: VeniBot: Towards Autonomous Venipuncture with Auto…

Automated blood vessel segmentation is vital for biomedical imaging, as vessel changes indicate many pathologies. Still, precise segmentation is difficult due to the complexity of vascular structures, anatomical variations across patients,…

Automatic vertebra localization and identification in CT scans is important for numerous clinical applications. Much progress has been made on this topic, but it mostly targets positional localization of vertebrae, ignoring their…

Segmentation of the left ventricle (LV) from cardiac magnetic resonance imaging (MRI) datasets is an essential step for calculation of clinical indices such as ventricular volume and ejection fraction. In this work, we employ deep learning…

Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…

For the last three years, the AutoPET competition gathered the medical imaging community around a hot topic: lesion segmentation on Positron Emitting Tomography (PET) scans. Each year a different aspect of the problem is presented; in 2024…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Recent progress in automated PET/CT lesion segmentation using deep learning methods has demonstrated the feasibility of this task. However, tumor lesion detection and segmentation in whole-body PET/CT is still a chal-lenging task. To…

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

Precise percutaneous needle detection is crucial for ultrasound (US)-guided interventions. However, inherent limitations such as speckles, needle-like artifacts, and low resolution make it challenging to robustly detect needles, especially…

We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…

<jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning…

This project concerns developing and validating an image guidance framework for application to a robotic-assisted fibular reduction in ankle fracture surgery. The aim is to produce and demonstrate proper functioning of software for…

In this paper, we propose an efficient method for robust 3D self-portraits using a single RGBD camera. Benefiting from the proposed PIFusion and lightweight bundle adjustment algorithm, our method can generate detailed 3D self-portraits in…

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…

Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…

Automatic localization and labeling of vertebra in 3D medical images plays an important role in many clinical tasks, including pathological diagnosis, surgical planning and postoperative assessment. However, the unusual conditions of…

Blind inpainting is a task to automatically complete visual contents without specifying masks for missing areas in an image. Previous works assume missing region patterns are known, limiting its application scope. In this paper, we relax…

Estimating ego-pose from cameras is an important problem in robotics with applications ranging from mobile robotics to augmented reality. While SOTA models are becoming increasingly accurate, they can still be unwieldy due to high…

The ability to adapt medical image segmentation networks for a novel class such as an unseen anatomical or pathological structure, when only a few labelled examples of this class are available from local healthcare providers, is…

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…