相关论文: A Framework For Automated Dissection Along Tissue …
Robotic surgery offers enhanced precision and adaptability, paving the way for automation in surgical interventions. Cholecystectomy, the gallbladder removal, is particularly well-suited for automation due to its standardized procedural…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
Training and prototype development in robot-assisted surgery requires appropriate and safe environments for the execution of surgical procedures. Current dry lab laparoscopy phantoms often lack the ability to mimic complex, interactive…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…
Image segmentation plays an essential role in medicine for both diagnostic and interventional tasks. Segmentation approaches are either manual, semi-automated or fully-automated. Manual segmentation offers full control over the quality of…
Purpose Segmentation of the liver from abdominal computed tomography (CT) image is an essential step in some computer assisted clinical interventions, such as surgery planning for living donor liver transplant (LDLT), radiotherapy and…
Artificial Intelligence (AI) is a pervasive research topic, permeating various sectors and applications. In this study, we harness the power of AI, specifically convolutional neural networks (ConvNets), for segmenting liver tissues. It also…
Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…
In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this task with high speed and accuracy, it is challenging to…
The segmentation of liver lesions is crucial for detection, diagnosis and monitoring progression of liver cancer. However, design of accurate automated methods remains challenging due to high noise in CT scans, low contrast between liver…
Automatic segmentation of anatomical structures is critical in medical image analysis, aiding diagnostics and treatment planning. Skin segmentation plays a key role in registering and visualising multimodal imaging data. 3D skin…
Automatic segmentation of the liver and its lesion is an important step towards deriving quantitative biomarkers for accurate clinical diagnosis and computer-aided decision support systems. This paper presents a method to automatically…
In recent years, the application of machine learning to minimally invasive surgery (MIS) has attracted considerable interest. Datasets are critical to the use of such techniques. This paper presents a unique dataset recorded during ex vivo…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…