相关论文: Safe Robotic Capsule Cleaning with Integrated Tran…
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or…
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…
Cataract surgery is one of the most commonly performed surgeries worldwide, yet intraoperative complications such as iris prolapse, posterior capsule rupture (PCR), and vitreous loss remain major causes of adverse outcomes. Automated…
In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide…
The amount of surgical data, recorded during video-monitored surgeries, has extremely increased. This paper aims at improving existing solutions for the automated analysis of cataract surgeries in real time. Through the analysis of a video…
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…
Optical coherence tomography (OCT) is a non-invasive volumetric imaging modality with high spatial and temporal resolution. For imaging larger tissue structures, OCT probes need to be moved to scan the respective area. For handheld…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
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…
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small…
Globally, cataract is a common eye disease and one of the leading causes of blindness and vision impairment. The traditional process of detecting cataracts involves eye examination using a slit-lamp microscope or ophthalmoscope by an…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
We present a framework to use recently introduced Capsule Networks for solving the problem of Optical Flow, one of the fundamental computer vision tasks. Most of the existing state of the art deep architectures either uses a correlation…
Intracoronary Optical Coherence Tomography (OCT) enables high-resolution visualization of coronary vessel anatomy but presents challenges due to noise, imaging artifacts, and complex tissue structures. This paper proposes a fully automated…
Cataracts are the leading cause of visual impairment and blindness globally. Over the years, researchers have achieved significant progress in developing state-of-the-art machine learning techniques for automatic cataract classification and…
Optical coherence tomography (OCT) is a micrometer-scale, volumetric imaging modality that has become a clinical standard in ophthalmology. OCT instruments image by raster-scanning a focused light spot across the retina, acquiring…
Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…
Recent advances in capsule endoscopy systems have introduced new methods and capabilities. The capsule endoscopy system, by observing the entire digestive tract, has significantly improved diagnosing gastrointestinal disorders and diseases.…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…