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Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

In total hip arthroplasty, analysis of postoperative medical images is important to evaluate surgical outcome. Since Computed Tomography (CT) is most prevalent modality in orthopedic surgery, we aimed at the analysis of CT image. In this…

Imaging techniques is widely used for medical diagnostics. This leads in some cases to a real bottleneck when there is a lack of medical practitioners and the images have to be manually processed. In such a situation there is a need to…

Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…

A SHM method is proposed that minimises the required number of sensors for detecting damage. The damage detection method consists of two steps. In an initial characterization step, substructuring approach is applied to the healthy structure…

Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…

Manual material handling tasks have the potential to be highly unsafe from an ergonomic viewpoint. Safety inspections to monitor body postures can help mitigate ergonomic risks of material handling. However, the real effect of awkward…

Electrosurgery is a surgical technique that can improve tissue cutting by reducing cutting force and bleeding. However, electrosurgery adds a risk of thermal injury to surrounding tissue. Expert surgeons estimate desirable cutting…

In the real world, the severity of traumatic injuries are measured using the Abbreviated Injury Scale (AIS). However the AIS scale cannot currently be computed by using finite element human computer models, which calculate a maximum…

The use of pointed or edged tools or objects is one of the most challenging aspects of today's application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed…

Bone drilling is a universal surgical procedure commonly used for internal fracture fixation, implant placement, or reconstructive surgery in orthopedics and dentistry. The increased temperature during such treatment increases the risk of…

To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial…

X-ray based measurement and guidance are commonly used tools in orthopaedic surgery to facilitate a minimally invasive workflow. Typically, a surgical planning is first performed using knowledge of bone morphology and anatomical landmarks.…

Recent advances in interactive keypoint estimation methods have enhanced accuracy while minimizing user intervention. However, these methods require user input for error correction, which can be costly in vertebrae keypoint estimation where…

Purpose: Accurate estimation of the position and orientation (pose) of surgical instruments is crucial for delicate minimally invasive temporal bone surgery. Current techniques lack in accuracy and/or line-of-sight constraints (conventional…

Reliable monitoring of surgical instrument exchanges is essential for maintaining procedural efficiency and patient safety in the operating room. Automatic detection of instrument handovers in intraoperative video remains challenging due to…

This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Internal fixation is a common orthopedic procedure in which a rigid screw is used to fix fragments of a fractured bone together and expedite the healing process. However, the rigidity of the screw, geometry of the fractured anatomy (e.g.…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…