相关论文: Finding an Initial Probe Pose in Teleoperated Robo…

Echocardiography (echo) plays an indispensable role in the clinical practice of heart diseases. However, ultrasound imaging typically provides only two-dimensional (2D) cross-sectional images from a few specific views, making it challenging…

Cardiac and lung ultrasound are technically demanding because operators must identify patient-specific intercostal acoustic windows and then navigate between standard views by adjusting probe position, rotation, and force across different…

Computer-aided diagnosis for low-dose computed tomography (CT) based on deep learning has recently attracted attention as a first-line automatic testing tool because of its high accuracy and low radiation exposure. However, existing methods…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…

Purpose: Conventional robotic ultrasound systems were utilized with patients in supine positions. Meanwhile, the limitation of the systems is that it is difficult to evacuate the patients in case of emergency (e.g., patient discomfort and…

Intra-cardiac Echocardiography (ICE) plays a crucial role in Electrophysiology (EP) and Structural Heart Disease (SHD) interventions by providing high-resolution, real-time imaging of cardiac structures. However, existing navigation methods…

BACKGROUND AND OBJECTIVE: Patient positioning is a crucial step in radiation therapy, for which non-invasive methods have been developed based on surface reconstruction using optical 3D imaging. However, most solutions need expensive…

Radiography is widely used in orthopedics for its affordability and low radiation exposure. 3D reconstruction from a single radiograph, so-called 2D-3D reconstruction, offers the possibility of various clinical applications, but achieving…

Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…

Accounting for 26% of all new cancer cases worldwide, breast cancer remains the most common form of cancer in women. Although early breast cancer has a favourable long-term prognosis, roughly a third of patients suffer from a suboptimal…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

This paper presents an approach for improving 2D/3D pelvis registration in optimization-based pose estimators using a learned initialization function. Current methods often fail to converge to the optimal solution when initialized naively.…

Three-dimensional (3D) reconstruction of head Computed Tomography (CT) images elucidates the intricate spatial relationships of tissue structures, thereby assisting in accurate diagnosis. Nonetheless, securing an optimal head CT scan…

Organ motion poses an unresolved challenge in image-guided interventions. In the pursuit of solving this problem, the research field of time-resolved volumetric magnetic resonance imaging (4D MRI) has evolved. However, current techniques…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

We present Ego3DPose, a highly accurate binocular egocentric 3D pose reconstruction system. The binocular egocentric setup offers practicality and usefulness in various applications, however, it remains largely under-explored. It has been…

This research proposes a novel adjustable algorithm for reconstructing 3D body shapes from front and side silhouettes. Most recent silhouette-based approaches use a deep neural network trained by silhouettes and key points to estimate the…

Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots,…

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…