相关论文: A Preliminary Add-on Differential Drive System for…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
Through-plane resolution in clinical MRI is typically much coarser than in-plane resolution, limiting diagnostic utility. This work investigates deep learning approaches to interpolate intermediate MRI slices in prostate imaging,…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
The diagnosis and segmentation of tumors using any medical diagnostic tool can be challenging due to the varying nature of this pathology. Magnetic Reso- nance Imaging (MRI) is an established diagnostic tool for various diseases and…
Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and thus is sensitive to the initial guess supplied. This work…
Multimodal MR-US registration is critical for prostate cancer diagnosis. However, this task remains challenging due to significant modality discrepancies. Existing methods often fail to align critical boundaries while being overly sensitive…
Drilling is one of the hardest parts of pedicle screw fixation, and it is one of the most dangerous operations because inaccurate screw placement would injury vital tissues, particularly when the vertebra is not stationary. Here we…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
Laser-enabled selective transfer, a key process in high-throughput microLED fabrication, requires computational models that can plan shift sequences to minimize motion of XY stages and adapt to varying optimization objectives across the…
From diagnosing neovascular diseases to detecting white matter lesions, accurate tiny vessel segmentation in fundus images is critical. Promising results for accurate vessel segmentation have been known. However, their effectiveness in…
Contactless manipulation of small objects is essential for biomedical and chemical applications, such as cell analysis, assisted fertilisation, and precision chemistry. Established methods, including optical, acoustic, and magnetic…
Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes, and demands for millimeter-level control. Prior works,…
Reliable estimation of surgical needle 3D position and orientation is essential for autonomous robotic suturing, yet existing methods operate almost exclusively under stereoscopic vision. In monocular endoscopic settings, common in…
Mobile manipulator systems are comprised of a mobile platform with one or more manipulators and are of great interest in a number of applications such as indoor warehouses, mining, construction, forestry etc. We present an approach for…
Image processing techniques has been widely used in dental researches such as human identification and forensic dentistry, teeth numbering, dental carries detection and periodontal disease analysis. One of the most challenging parts in…
Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…
Prostate cancer is the most diagnosed form of cancer in Canadian men, and is the third leading cause of cancer death. Despite these statistics, prognosis is relatively good with a sufficiently early diagnosis, making fast and reliable…
Prostate cancer (PCa) is the most frequently diagnosed malignancy in men and the eighth leading cause of cancer death worldwide. Multiparametric MRI (mpMRI) has become central to the diagnostic pathway for men at intermediate risk,…
In this work we propose to segment the prostate on a challenging dataset of trans-rectal ultrasound (TRUS) images using convolutional neural networks (CNNs) and statistical shape models (SSMs). TRUS is commonly used for a number of…
Magnetic resonance imaging (MRI) is a non-invasive medical imaging technique offering high-resolution 3D images and valuable insights into human tissue conditions. Even at present, the refinement of denoising methods for MRI remains a…