相关论文: AURA-CVC: Autonomous Ultrasound-guided Robotic Ass…

Ultrasound (US)-guided needle insertion is a critical yet challenging procedure due to dynamic imaging conditions and difficulties in needle visualization. Many methods have been proposed for automated needle insertion, but they often rely…

We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately…

We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle…

Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small size and fragility of retinal veins, coupled with the need…

Central venous catheters (CVCs) are commonly used in critical care settings for monitoring body functions and administering medications. They are often described in radiology reports by referring to their presence, identity and placement.…

In trauma and critical care settings, rapid and precise intravascular access is key to patients' survival. Our research aims at ensuring this access, even when skilled medical personnel are not readily available. Vessel bifurcations are…

The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…

Rapid and reliable vascular access is critical in trauma and critical care. Central vascular catheterization enables high-volume resuscitation, hemodynamic monitoring, and advanced interventions like ECMO and REBOA. While peripheral access…

Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making.…

Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…

Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the…

Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critical role, successful vascular access remains challenging due…

Training and practice play a key role in a medical students' attainment of surgical procedural skills. It is beyond doubt that good skills correlate with better clinical outcomes and improved healthcare. Timely, holistic, and effective…

Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both…

Purpose: This study compares two augmented reality (AR)-guided imaging workflows, one based on ultrasound shape completion and the other on cone-beam computed tomography (CBCT), for planning and executing lumbar needle interventions. The…

This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…

In the modern medical care, venipuncture is an indispensable procedure for both diagnosis and treatment. In this paper, unlike existing solutions that fully or partially rely on professional assistance, we propose VeniBot -- a compact…

Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutaneous approach. The physician incrementally inserts and…

Intro: Vocal cord ultrasound (VCUS) has emerged as a less invasive and better tolerated examination technique, but its accuracy is operator dependent. This research aims to apply a machine learning-assisted algorithm to automatically…

Central venous catheters (CVC) are commonly inserted into the large veins of the neck, e.g. the internal jugular vein (IJV). CVC insertion may cause serious complications like misplacement into an artery or perforation of cervical vessels.…