相关论文: Body-mounted MR-conditional Robot for Minimally In…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
A novel, real-time, mm-Wave radar-based static hand shape classification algorithm and implementation are proposed. The method finds several applications in low cost and privacy sensitive touchless control technology using 60 Ghz radar as…
Liver tumor ablation procedures require accurate placement of the needle applicator at the tumor centroid. The lower-cost and real-time nature of ultrasound (US) has advantages over computed tomography (CT) for applicator guidance, however,…
Endovascular guidewire manipulation is essential for minimally-invasive clinical applications (Percutaneous Coronary Intervention (PCI), Mechanical thrombectomy techniques for acute ischemic stroke (AIS), or Transjugular intrahepatic…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
We present a systematic approach for the semiclassical treatment of many-body dynamics of interacting, open spin systems. Our approach overcomes some of the shortcomings of the recently developed discrete truncated Wigner approximation…
Quantitative information on tumor heterogeneity and cell load could assist in designing effective and refined personalized treatment strategies. It was recently shown by us that such information can be inferred from the diffusion parameter…
The millimeter wave (mmWave) bands have attracted considerable attention for high precision localization applications due to the ability to capture high angular and temporal resolution measurements. This paper explores mmWave-based…
Multimodal MR-US registration is critical for prostate cancer diagnosis. However, this task remains challenging due to significant modality discrepancies. Existing methods often fail to align critical boundaries while being overly sensitive…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack of 3D localization information, and risks…
Monitoring physiological and behavioral parameters of laboratory rodents is fundamental for biomedical research, yet conventional techniques often rely on invasive sensors or frequent handling that can induce stress and compromise data…
The purpose of this study is to find ideal forces for reducing cell stress in wound healing process by micro robots. Because of this aim, we made two simulations on COMSOL Multiphysics with micro robot to find correct force. As a result of…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
Navigating unknown three-dimensional (3D) rugged environments is challenging for multi-robot systems. Traditional discrete systems struggle with rough terrain due to limited individual mobility, while modular systems--where rigid,…
Accurate segmentation of thin structures is critical for microsurgical scene understanding but remains challenging due to resolution loss, low contrast, and class imbalance. We propose Microsurgery Instrument Segmentation for Robotic…
Advances in imaging and early cancer detection have increased interest in magnetic resonance (MR) guided focused ultrasound (MRgFUS) technologies for cancer treatment. MRgFUS ablation treatments could reduce surgical risks, preserve organ…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…
Current interstitial techniques of tumor ablation face challenges that ultrasound technologies could meet. The ablation radius and directionality of the ultrasound beam could improve the efficiency and precision. Here, a 9gauge…
Multimodal image registration has many applications in diagnostic medical imaging and image-guided interventions, such as Transcatheter Arterial Chemoembolization (TACE) of liver cancer guided by intraprocedural CBCT and pre-operative MR.…