相关论文: Tactile-Guided Robotic Ultrasound: Mapping Preplan…
Under conventional "open-" surgery, the physician has to take care of the patient, interact with other clinicians and check several monitoring devices. Nowadays, the Computer Assisted Surgery proposes to integrate 3D cameras in the…
Ultrasound-guided spine interventions, such as lumbar-puncture procedures, often suffer from the reduced visibility of key anatomical features such as the inter-spinous process space, due to the complex shape of the self-shadowing vertebra.…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally rely on tactile simulation or pre-trained models, which…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Model-based treatment planning for transcranial ultrasound therapy typically involves mapping the acoustic properties of the skull from an x-ray computed tomography (CT) image of the head. Here, three methods for generating pseudo-CT images…
Micro-ultrasound (micro-US) is a promising imaging technique for cancer detection and computer-assisted visualization. This study investigates prostate capsule segmentation using deep learning techniques from micro-US images, addressing the…
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…
Many minimally invasive procedures, such as core needle biopsy of focal liver lesions, nerve blocks, and fetal and vascular interventions, are typically performed under ultrasound guidance, which provides real-time, high-resolution…
Background: This protocol introduces an ultrasound (US) configuration for whole-body 3D dynamic contrast-enhanced ultrasound (DCE-US) imaging in preclinical applications. The set-up relies on a clinical abdominal matrix US probe to enable…
Purpose: Accurate intraoperative X-ray/CT registration is essential for surgical navigation in orthopedic procedures. However, existing methods struggle with consistently achieving sub-millimeter accuracy, robustness under broad initial…
Conventional computed tomography (CT) lacks the ability to capture dynamic, weight-bearing joint motion. Functional evaluation, particularly after surgical intervention, requires four-dimensional (4D) imaging, but current methods are…
Autonomous ultrasound (US) acquisition is an important yet challenging task, as it involves interpretation of the highly complex and variable images and their spatial relationships. In this work, we propose a deep reinforcement learning…
Transcranial ultrasound simulations are increasingly used to predict in situ exposure parameters for ultrasound therapies in the brain. However, there can be considerable uncertainty in estimating the acoustic medium properties of the skull…
Brain shift makes the pre-operative MRI navigation highly inaccurate hence the intraoperative modalities are adopted in surgical theatre. Due to the excellent economic and portability merits, the Ultrasound imaging is used at our…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
The emergence of capsule endoscopy has provided a means of capturing video of the small intestines without having to resort to an invasive procedure involving intubation. However, real-time video streaming to a receiver outside the body…
The first choice in diagnostic imaging for patients suffering from peripheral arterial disease is 2D ultrasound (US). However, for a proper imaging process, a skilled and experienced sonographer is required. Additionally, it is a highly…
Photoacoustic imaging of interphalangeal peripheral joints is of interest in the context of using the synovial membrane as a surrogate marker of rheumatoid arthritis. Previous work has shown that ultrasound produced by absorption of light…
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…