相关论文: Tactile-Guided Robotic Ultrasound: Mapping Preplan…
Motion information from 4D medical imaging offers critical insights into dynamic changes in patient anatomy for clinical assessments and radiotherapy planning and, thereby, enhances the capabilities of 3D image analysis. However, inherent…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Ultrasound computed tomography (USCT) is an emerging modality for breast imaging. Image reconstruction methods that incorporate accurate wave physics produce high resolution quantitative images of acoustic properties but are computationally…
Two-dimensional (2D) freehand ultrasonography is one of the most commonly used medical imaging modalities, particularly in obstetrics and gynaecology. However, it only captures 2D cross-sectional views of inherently 3D anatomies, losing…
We report on an extended robot control application of a contact-less and airborne ultrasonic tactile display (AUTD) stimulus-based brain-computer interface (BCI) paradigm, which received last year The Annual BCI Research Award 2014. In the…
Fullwave simulations are applied to an intercostal imaging scenario to determine the sources of fundamental and harmonic image degradation with respect to aberration and reverberation. These simulations are based on Part I of this two part…
Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…
Accurate estimation of the speed-of-sound (SoS) is important for ultrasound (US) image reconstruction techniques and tissue characterization. Various approaches have been proposed to calculate SoS, ranging from tomography-inspired…
Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…
Spatial transcriptomics (ST) profiles gene expression across a tissue section while preserving the spatial coordinates. Because current ST technologies typically profile two-dimensional tissue slices, integrating and aligning slices from…
As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…
Ultrasound (US) imaging is widely used for diagnosing and monitoring arterial diseases, mainly due to the advantages of being non-invasive, radiation-free, and real-time. In order to provide additional information to assist clinicians in…
Whole-body PET/CT is a cornerstone of oncological imaging, yet accurate lesion segmentation remains challenging due to tracer heterogeneity, physiological uptake, and multi-center variability. While fully automated methods have advanced…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
Accurate bone tracking is crucial for kinematic analysis in orthopedic surgery and prosthetic robotics. Traditional methods (e.g., skin markers) are subject to soft tissue artifacts, and the bone pins used in surgery introduce the risk of…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Accurate visualization of interventional devices, such as medical needles, is essential for the safe and effective guidance of minimally invasive procedures. Ultrasound (US) imaging is widely used for needle guidance, but the…
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…
Accurate and robust ultrasound image segmentation is critical for computer-aided diagnostic systems. Nevertheless, the inherent challenges of ultrasound imaging, such as blurry boundaries and speckle noise, often cause traditional…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…