相关论文: A Mobile Robotic Approach to Autonomous Surface Sc…
Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…
Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…
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…
Diffuse Reflectance Spectroscopy (DRS) is a well-established optical technique for tissue composition assessment which has been clinically evaluated for tumour detection to ensure the complete removal of cancerous tissue. While point-wise…
Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…
Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…
Chronic wound monitoring and management require accurate and efficient wound measurement methods. This paper presents a fast, non-invasive 3D wound measurement algorithm based on RGB-D imaging. The method combines RGB-D odometry with…
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…
Ultrasound (US) imaging is increasingly used in spinal procedures due to its real-time, radiation-free capabilities; however, its effectiveness is hindered by shadowing artifacts that obscure deeper tissue structures. Traditional…
The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
As computer vision algorithms increase in capability, their applications in clinical systems will become more pervasive. These applications include: diagnostics, such as colonoscopy and bronchoscopy; guiding biopsies, minimally invasive…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light…
Purpose: In this paper, we present a novel approach to the automatic evaluation of open surgery skills using depth cameras. This work is intended to show that depth cameras achieve similar results to RGB cameras, which is the common method…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…