相关论文: Deformation-Aware Robotic 3D Ultrasound

Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation with tactile feedback is necessary for localization,…

Cardiac deformation is a crucial biomarker for the evaluation of cardiac function. Current methods for estimating cardiac strain might underestimate local deformation due to through-plane motion and segmental averaging. Mesh-based mapping…

Tissue deformation poses a key challenge for accurate surgical scene reconstruction. Despite yielding high reconstruction quality, existing methods suffer from slow rendering speeds and long training times, limiting their intraoperative…

The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…

The injection of a long flexible rod into a two-dimensional domain yields a complex pattern commonly studied through elasticity theory, packing analysis, and fractal geometries. "Loop" is a one-vertex entity that is naturally formed in this…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…

Using (casual) images to texture 3D models is a common way to create realistic 3D models, which is a very important task in computer graphics. However, if the shape of the casual image does not look like the target model or the target…

Robotic ultrasound (US) imaging aims at overcoming some of the limitations of free-hand US examinations, e.g. difficulty in guaranteeing intra- and inter-operator repeatability. However, due to anatomical and physiological variations…

We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…

Thanks to its capability of acquiring full-view frames at multiple kilohertz, ultrafast ultrasound imaging unlocked the analysis of rapidly changing physical phenomena in the human body, with pioneering applications such as ultrasensitive…

Reconstructing object deformation from a single image remains a significant challenge in computer vision and graphics. Existing methods typically rely on multi-view video to recover deformation, limiting their applicability under…

In biological tissue, an increase in elasticity is often a marker of abnormalities. Techniques such as quasi-static ultrasound elastography have been developed to assess the strain distribution in soft tissues in two dimensions using a…

We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…

Ultrasound b-mode imaging is a qualitative approach and diagnostic quality strongly depends on operators' training and experience. Quantitative approaches can provide information about tissue properties; therefore, can be used for…

To track tumors during surgery, information from preoperative CT scans is used to determine their position. However, as the surgeon operates, the tumor may be deformed which presents a major hurdle for accurately resecting the tumor, and…

Shear wave elastography involves applying a non-invasive acoustic radiation force to the tissue and imaging the induced deformation to infer its mechanical properties. This work investigates the use of convolutional neural networks to…

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.…

Reconstructed 3D ultrasound volume provides more context information compared to a sequence of 2D scanning frames, which is desirable for various clinical applications such as ultrasound-guided prostate biopsy. Nevertheless, 3D volume…

In medical image segmentation, particularly in UNet-like architectures, upsampling is primarily used to transform smaller feature maps into larger ones, enabling feature fusion between encoder and decoder features and supporting multi-scale…