相关论文: A Modified da Vinci Surgical Instrument for OCE ba…
Objective: To compare non-contact acoustic micro-tapping optical coherence elastography (AuT-OCE) with destructive mechanical tests to confirm corneal elastic anisotropy. Design: Ex vivo, laboratory study with non-contact AuT-OCE followed…
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…
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…
Cortical thickness measurements from magnetic resonance imaging, an important biomarker in many neurodegenerative and neurological disorders, are derived by many tools from an initial voxel-wise tissue segmentation. White matter (WM)…
Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera. In this study, we explore the potential of depth sensing…
Shear wave absolute vibro-elastography (S-WAVE) is an imaging technique that generates steady-state shear waves inside the tissue using multi-frequency excitation from an external vibration source. In this work, plane wave imaging is…
Corneal collagen crosslinking (CXL) is commonly used to prevent or treat keratoconus. Although changes in corneal stiffness induced by CXL surgery can be monitored with non-contact dynamic optical coherence elastography (OCE) by tracking…
Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is challenging due to inherent non-linearities in cable-driven…
Purpose: To evaluate changes in the anisotropic elastic properties of ex vivo human cornea treated with UV cross-linking (CXL) using non-contact acoustic micro-tapping Optical Coherence Elastography (AuT-OCE) Design: AuT performed on normal…
Intra-cardiac Echocardiography (ICE) plays a crucial role in Electrophysiology (EP) and Structural Heart Disease (SHD) interventions by providing high-resolution, real-time imaging of cardiac structures. However, existing navigation methods…
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…
Ultrasound shear wave elastography (SWE) is a noninvasive way to measure stiffness of soft tissue for medical diagnosis. In SWE imaging, an acoustic radiation force induces tissue displacement, which creates shear waves (SWs) that travel…
Automated feedback systems have the potential to provide objective skill assessment for training and evaluation in robot-assisted surgery. In this study, we examine methods to achieve real-time prediction of surgical skill level in…
There has recently been great progress in automatic segmentation of medical images with deep learning algorithms. In most works observer variation is acknowledged to be a problem as it makes training data heterogeneous but so far no…
Diagnosis based on medical images, such as X-ray images, often involves manual annotation of anatomical keypoints. However, this process involves significant human efforts and can thus be a bottleneck in the diagnostic process. To fully…
\textit{Purpose} Estimating the interaction forces of instruments and tissue is of interest, particularly to provide haptic feedback during robot assisted minimally invasive interventions. Different approaches based on external and…
This study introduces a groundbreaking optical coherence tomography (OCT) imaging system dedicated for high-throughput screening applications using ex vivo tissue culture. Leveraging OCT's non-invasive, high-resolution capabilities, the…
Accurate simulation of brain deformation is a key component for developing realistic, interactive neurosurgical simulators, as complex nonlinear deformations must be captured to ensure realistic tool-tissue interactions. However,…
The Dice score and Jaccard index are commonly used metrics for the evaluation of segmentation tasks in medical imaging. Convolutional neural networks trained for image segmentation tasks are usually optimized for (weighted) cross-entropy.…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…