相关论文: STITCH 2.0: Extending Augmented Suturing with EKF …
Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation method is highly advantageous in medical applications, the…
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Surgeons' technical skill directly impacts patient outcomes. To date, the angular motion of the instruments has been largely overlooked in objective skill evaluation. To fill this gap, we have developed metrics for surgical skill evaluation…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However,…
Wounds, such as foot ulcers, pressure ulcers, leg ulcers, and infected wounds, come up with substantial problems for healthcare professionals. Prompt and accurate segmentation is crucial for effective treatment. However, contemporary…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Multi-modal image stitching can be a difficult feat. That's why, in this paper, we've devised a unique and comprehensive image-stitching pipeline that taps into OpenCV's stitching module. Our approach integrates feature-based matching,…
Background. Osteoarthritis affects about 528 million people worldwide, causing pain and stiffness in the joints. Arthroplasty is commonly performed to treat joint osteoarthritis, reducing pain and improving mobility. Nevertheless, a…
Surgeons normally need surgical scissors and tissue grippers to cut through a deformable surgical tissue. The cutting accuracy depends on the skills to manipulate these two tools. Such skills are part of basic surgical skills training as in…
Applying deep learning (DL) for annotating surgical instruments in robot-assisted minimally invasive surgeries (MIS) represents a significant advancement in surgical technology. This systematic review examines 48 studies that and advanced…
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guides the gripper toward some specific pick-up point for proper…
The ``fast iterative shrinkage-thresholding algorithm'', a.k.a. FISTA, is one of the most widely used algorithms in the literature. However, despite its optimal theoretical $O(1/k^2)$ convergence rate guarantee, oftentimes in practice its…
Machine learning and deep learning methods have become essential for computer-assisted prediction in medicine, with a growing number of applications also in the field of mammography. Typically these algorithms are trained for a specific…
Annotation and labeling of images are some of the biggest challenges in applying deep learning to medical data. Current processes are time and cost-intensive and, therefore, a limiting factor for the wide adoption of the technology.…
With the increasing use of surgical robots in clinical practice, enhancing their ability to process multimodal medical images has become a key research challenge. Although traditional medical image fusion methods have made progress in…
Instrumented spherical nanoindentation with a continuous stiffness measurement has gained increased popularity in material science studies in brittle and ductile materials alike. These investigations span hypotheses related to a wide range…
Recently, a novel coded compressed sensing (CCS) approach was proposed in [1] for dealing with the scalability problem for large sensing matrices in massive machine-type communications. The approach is to divide the compressed sensing (CS)…