相关论文: A Patient-Specific Framework for Autonomous Spinal…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
The proposed work establishes a novel Graphical User Interface (GUI) framework, primarily designed for intraoperative pedicle screw planning. Current planning workflow in Image Guided Surgeries primarily relies on pre-operative CT planning.…
Whole-body Positron Emission Tomography (PET) registration is essential for multi-parametric tumor characterization and assessment of metastatic disease progression. In deep learning-based deformable registration, the dense displacement…
In recent years, accelerated MRI reconstruction based on deep learning has led to significant improvements in image quality with impressive results for high acceleration factors. However, from a clinical perspective image quality is only…
Mandibular reconstruction with vascularized bone grafts is complicated by donor-host nonunion, and current virtual surgical planning produces a geometric plan rather than a configuration that explicitly promotes bone union. We present…
We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
This paper presents a proposed method of autonomous control for docking tasks of a single-seat personal mobility vehicle. We proposed a non-linear model predictive control (NMPC) based visual servoing to achieves the desired autonomous…
Purpose: This paper focuses on an automated analysis of surgical motion profiles for objective skill assessment and task recognition in robot-assisted surgery. Existing techniques heavily rely on conventional statistic measures or shallow…
In image compression, classical block-based separable transforms tend to be inefficient when image blocks contain arbitrarily shaped discontinuities. For this reason, transforms incorporating directional information are an appealing…
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots…
For compression fracture detection and evaluation, an automatic X-ray image segmentation technique that combines deep-learning and level-set methods is proposed. Automatic segmentation is much more difficult for X-ray images than for CT or…
Cervical spine fractures demand rapid and accurate diagnosis for effective clinical management. This study presents an automated, end-to-end pipeline for fracture detection across cervical vertebrae (C1--C7) that assesses the feasibility of…
Digital technology plays a crucial role in designing customized medical devices, such as occlusal splints, commonly used in the management of disorders of the stomatognathic system. This methodological proof-of-concept study presents a…
The current standard of intra-operative navigation during Fenestrated Endovascular Aortic Repair (FEVAR) calls for need of 3D alignments between inserted devices and aortic branches. The navigation commonly via 2D fluoroscopic images, lacks…
Patient-specific 3D spine models serve as a foundation for spinal treatment and surgery planning as well as analysis of loading conditions in biomechanical and biomedical research. Despite advancements in imaging technologies, the…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a methodology where an initial approximate operator-defined…
Objective: To establish an automated pipeline for post-processing of quantitative spin-lattice relaxation time constant in the rotating frame ($T_{1\rho}$) imaging of knee articular cartilage. Design: The proposed post-processing pipeline…
As the more sensors and actuators are used in the robotic systems to provide more features, complexity of the system is increasing. When it comes to medical robotics, it becomes harder to ensure safety and determinism in the system. To deal…