相关论文: Model-Based Pose Estimation of Steerable Catheters…
We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…
In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
Identifying and interpreting fetal standard scan planes during 2D ultrasound mid-pregnancy examinations are highly complex tasks which require years of training. Apart from guiding the probe to the correct location, it can be equally…
In this work, we apply a kinetic version of a bounded confidence consensus model to biomedical segmentation problems. In the presented approach, time-dependent information on the microscopic state of each particle/pixel includes its space…
Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…
Purpose: Developing and testing a framework that integrates real-time catheter shape reconstruction, interactive simulations, and mixed reality visualization to enable accurate monitoring of catheter-vessel interactions during endovascular…
In endoscopic surgery, surgeons continuously locate the endoscopic view relative to the anatomy by interpreting the evolving visual appearance of the intraoperative scene in the context of their prior knowledge. Vision-based navigation…
Precise alignment of the electron beam is critical for successful application of scanning transmission electron microscopes (STEM) to understanding materials at atomic level. Despite the success of aberration correctors, aberration…
An efficient computational approach for optimal reconstruction of binary-type images suitable for models in various applications including biomedical imaging is developed and validated. The methodology includes derivative-free optimization…
Purpose: Conventional robotic ultrasound systems were utilized with patients in supine positions. Meanwhile, the limitation of the systems is that it is difficult to evacuate the patients in case of emergency (e.g., patient discomfort and…
Endoluminal reconstruction using flow diverters represents a novel paradigm for the minimally invasive treatment of intracranial aneurysms. The configuration assumed by these very dense braided stents once deployed within the parent vessel…
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…
To move away from open-heart surgery towards safer transcatheter procedures, there is a growing need for improved imaging techniques and robotic solutions to enable simple, accurate tool navigation. Common imaging modalities, such as…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
In this paper, we present a novel stereo visual inertial pose estimation method. Compared to the widely used filter-based or optimization-based approaches, the pose estimation process is modeled as a control system. Designed feedback or…
In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable…
Sensors in high-precision mechatronic systems require accurate calibration, which is achieved using test beds that, in turn, require even more accurate calibration. The aim of this paper is to develop a cascaded calibration method for…
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…