相关论文: A Patient-Specific Framework for Autonomous Spinal…
Accurate vertebra localization and identification are required in many clinical applications of spine disorder diagnosis and surgery planning. However, significant challenges are posed in this task by highly varying pathologies (such as…
Advanced navigation techniques in image-guided interventions and surgical robotics require the rapid and precise alignment of 3D preoperative volumes (e.g., CT, MRI) to 2D intraoperative images (e.g., X-ray fluoroscopy). However, existing…
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…
Multi-modal image registration is a challenging problem that is also an important clinical task for many real applications and scenarios. As a first step in analysis, deformable registration among different image modalities is often…
Magnetic continuum robots (MCRs) enable minimally invasive navigation through tortuous anatomical channels, yet axially magnetized designs have largely been limited to bending-only motion. To expand deformation capabilities, this paper…
Unsafe surgical care is a critical health concern, often linked to limitations in surgeon experience, skills, and situational awareness. Integrating patient-specific 3D models into the surgical field can enhance visualization, provide…
Surgical planning for complex tibial fractures can be challenging for surgeons, as the 3D structure of the later desirable bone alignment may be difficult to imagine. To assist in such planning, we address the challenge of predicting a…
This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The…
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…
Robot-assisted endovascular intervention offers a safe and effective solution for remote catheter manipulation, reducing radiation exposure while enabling precise navigation. Reinforcement learning (RL) has recently emerged as a promising…
Robotic-assisted surgery has emerged as a promising approach to improve surgical ergonomics, precision, and workflow efficiency, particularly in complex procedures such as cervical spine surgery. In this study, we evaluate the performance…
Automatic parsing of human anatomies at the instance-level from 3D computed tomography (CT) is a prerequisite step for many clinical applications. The presence of pathologies, broken structures or limited field-of-view (FOV) can all make…
There has been a significant increase from 2010 to 2016 in the number of people suffering from spine problems. The automatic image segmentation of the spine obtained from a computed tomography (CT) image is important for diagnosing spine…
During and after a course of therapy, imaging is routinely used to monitor the disease progression and assess the treatment responses. Despite of its significance, reliably capturing and predicting the spatial-temporal anatomic changes from…
Proton therapy offers superior organ-at-risk sparing but is highly sensitive to anatomical changes, making accurate deformable image registration (DIR) across longitudinal CT scans essential. Conventional DIR methods are often too slow for…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
Purpose: To develop a multi-criteria optimization framework for image guided radiotherapy. Methods: An algorithm is proposed for a multi-criteria framework for the purpose of patient setup verification decision processes. Optimal patient…
In this paper we present a new 3D segmentation approach for the vertebrae of the lower thoracic and the lumbar spine in spiral computed tomography datasets. We implemented a multi-step procedure. Its main components are deformable models,…
Automatic vertebrae identification and localization from arbitrary CT images is challenging. Vertebrae usually share similar morphological appearance. Because of pathology and the arbitrary field-of-view of CT scans, one can hardly rely on…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…