相关论文: Body-mounted MR-conditional Robot for Minimally In…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
The work includes a brief overview of the applications of the powerful and easy-to-perform method of Microwave Radiometry (MWR) for the diagnosis of various diseases. The main goal of this paper is to develop a method for diagnosing breast…
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…
MRI-targeted biopsy has shown significant advantages over conventional random sextant biopsy, detecting more clinically significant cancers and improving risk stratification. However, needle targeting accuracy, especially in transperineal…
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the…
Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…
Healthcare monitoring is crucial, especially for the daily care of elderly individuals living alone. It can detect dangerous occurrences, such as falls, and provide timely alerts to save lives. Non-invasive millimeter wave (mmWave)…
Wearable on-body millimeter-wave (mmWave) radars can provide obstacle detection and guidance for visually impaired individuals. The antennas, being a crucial component of these systems, must be lightweight, flexible, low-cost, and compact.…
Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion…
Purpose: MicroWave Ablation (MWA) modeling and simulation bear great potential for loco-regional treatment of liver tumors. However, accurately positioning the antenna according to a planned orientation/location is technically challenging.…
Cervical cancer is one of the leading causes of death in women, and brachytherapy is currently the primary treatment method. However, it is important to precisely define the extent of paracervical tissue invasion to improve cancer diagnosis…
This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radiotherapy. We employ two RGB-D sensors in a sensor fusion…
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the…
This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical…
Treatment for high-grade precancerous cervical lesions and early-stage cancers, mainly affecting women of reproductive age, often involves fertility-sparing treatment methods. Commonly used local treatments for cervical precancers have…
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue types presents difficulties for surgeons in achieving…
Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions, such as those in the liver, exhibit rhythmic components…
Ultrasound (US)-guided needle insertion is a critical yet challenging procedure due to dynamic imaging conditions and difficulties in needle visualization. Many methods have been proposed for automated needle insertion, but they often rely…
Purpose: This study demonstrates a proof of concept of a method for simultaneous anatomical imaging and real-time (SMART) passive device tracking for MR-guided interventions. Methods: Phase Correlation template matching was combined with a…
Millimeter-wave (mmWave) radar enables contactless respiratory sensing,yet fine-grained monitoring is often degraded by nonstationary interference from body micromotions.To achieve micromotion interference removal,we propose…