相关论文: Online Topological Localization for Navigation Ass…
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…
Accurate airway anatomical labeling is crucial for clinicians to identify and navigate complex bronchial structures during bronchoscopy. Automatic airway anatomical labeling is challenging due to significant individual variability and…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
Ultrasound is progressing toward becoming an affordable and versatile solution to medical imaging. With the advent of COVID-19 global pandemic, there is a need to fully automate ultrasound imaging as it requires trained operators in close…
Optical colonoscopy is an essential diagnostic and prognostic tool for many gastrointestinal diseases, including cancer screening and staging, intestinal bleeding, diarrhea, abdominal symptom evaluation, and inflammatory bowel disease…
Monocular depth estimation in bronchoscopy can significantly improve real-time navigation accuracy and enhance the safety of interventions in complex, branching airways. Recent advances in depth foundation models have shown promise for…
Bronchoscopy with transbronchial biopsy is a minimally invasive and effective method for early lung cancer intervention. Robot-assisted bronchoscopy offers improved precision, spatial flexibility, and reduced risk of cross-infection. This…
Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of…
Automated patient positioning can improve radiology workflow efficiency by reducing the time required for manual table adjustments and scout-based scan planning. We propose a learning-based framework that predicts 3D organ locations and…
In developing medical interventions using untethered milli- and microrobots, ensuring safety and effectiveness relies on robust methods for detection, real-time tracking, and precise localization within the body. However, the inherent…
Echocardiography plays an important part in diagnostic aid in cardiac diseases. A critical step in echocardiography-aided diagnosis is to extract the standard planes since they tend to provide promising views to present different structures…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
This paper proposes a method for topological mapping and navigation using a monocular camera. Based on AnyLoc, keyframes are converted into descriptors to construct topological relationships, enabling loop detection and map building. Unlike…
This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
Video-assisted thoracic surgery (VATS) is a minimally invasive approach for treating early-stage non-small-cell lung cancer. Optimal trocar placement during VATS ensures comprehensive access to the thoracic cavity, provides a panoramic…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures, such as bronchoscopy, demand precise and safe navigation…
Purpose: Bronchoscopic intervention is a widely-used clinical technique for pulmonary diseases, which requires an accurate and topological complete airway map for its localization and guidance. The airway map could be extracted from chest…