相关论文: A Modified da Vinci Surgical Instrument for OCE ba…
In this work we consider the inverse problem of reconstructing the optical properties of a layered medium from an elastography measurement where optical coherence tomography is used as the imaging method. We hereby model the sample as a…
Estimating the forces acting between instruments and tissue is a challenging problem for robot-assisted minimally-invasive surgery. Recently, numerous vision-based methods have been proposed to replace electro-mechanical approaches.…
Intracoronary Optical Coherence Tomography (OCT) enables high-resolution visualization of coronary vessel anatomy but presents challenges due to noise, imaging artifacts, and complex tissue structures. This paper proposes a fully automated…
Measurement of environment interaction forces during robotic minimally-invasive surgery would enable haptic feedback to the surgeon, thereby solving one long-standing limitation. Estimating this force from existing sensor data avoids the…
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or…
Robot-assisted surgery is an established clinical practice. The automatic identification of surgical actions is needed for a range of applications, including performance assessment of trainees and surgical process modeling for autonomous…
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…
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…
Computed Tomography Angiography is a key modality providing insights into the cerebrovascular vessel tree that are crucial for the diagnosis and treatment of ischemic strokes, in particular in cases of large vessel occlusions (LVO). Thus,…
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Optical coherence tomography (OCT) uses low-coherence reflectometry to obtain cross-sectional images of inhomogeneous media, such as biological tissue. OCT is particularly useful in the biomedical ea, since the imaging can be performed…
Dynamic optical coherence tomography (DOCT) statistically analyzes fluctuations in time-sequential OCT signals, enabling label-free and three-dimensional visualization of intratissue and intracellular activities. Current DOCT methods, such…
Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…
Obesity is a common issue in modern societies today that can lead to various diseases and significantly reduced quality of life. Currently, research has been conducted to investigate resting state EEG (electroencephalogram) signals with an…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
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…
This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by…
The task of automatically segmenting 3-D surfaces representing boundaries of objects is important for quantitative analysis of volumetric images, and plays a vital role in biomedical image analysis. Recently, graph-based methods with a…
Real-time (RT) dynamic MRI plays a vital role in capturing rapid physiological processes, offering unique insights into organ motion and function. Among these applications, RT cine MRI is particularly important for functional assessment of…
This paper introduces a new method for estimating the penetration of the end effector and the parameters of a soft body using a collaborative robotic arm. This is possible using the dimensionality reduction method that simplifies the…