相关论文: Multi-function Robotized Surgical Dissector for En…
Upper aerodigestive tract (UADT) treatments frequently employ transoral laser microsurgery (TLM) for procedures such as the removal of tumors or polyps. In TLM, a laser beam is used to cut target tissue, while forceps are employed to grasp,…
Gastrointestinal (GI) cancers account for 1.5 million deaths worldwide. Endoscopic Submucosal Dissection (ESD) is an advanced therapeutic endoscopy technique with superior clinical outcome due to the minimally invasive and en bloc removal…
The rapid growth in complexity and size of modern deep neural networks (DNNs) has increased challenges related to computational costs and memory usage, spurring a growing interest in efficient model compression techniques. Previous…
Pulmonary embolism (PE) represents a thrombus ("blood clot"), usually originating from a lower extremity vein, that travels to the blood vessels in the lung, causing vascular obstruction and in some patients, death. This disorder is…
This paper introduces a size-adaptable robotic endoscope design, which aims to improve the efficiency and comfort of colonoscopy. The robotic endoscope proposed in this paper combines the expansion mechanism and the external drive system,…
OBJECTIVE: The TER system is a robot-based tele-echography system allowing remote ultrasound examination. The specialist moves a mock-up of the ultrasound probe at the master site, and the robot reproduces the movements of the real probe,…
Detecting lesions in Computed Tomography (CT) scans is a challenging task in medical image processing due to the diverse types, sizes, and locations of lesions. Recently, various one-stage and two-stage framework networks have been…
Deep Venous Thrombosis (DVT) is a common vascular disease with blood clots inside deep veins, which may block blood flow or even cause a life-threatening pulmonary embolism. A typical exam for DVT using ultrasound (US) imaging is by…
Since the shape of industrial endoscopes is passively altered according to the contact around it, manual inspection approaches of aeroengines through the inspection ports have unreachable areas, and it's difficult to traverse multistage…
Automated methods for detecting pulmonary embolisms (PEs) on CT pulmonary angiography (CTPA) images are of high demand. Existing methods typically employ separate steps for PE candidate detection and false positive removal, without…
This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by…
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…
Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
This paper presents a closed-loop magnetic manipulation framework for robotic transesophageal echocardiography (TEE) acquisitions. Different from previous work on intracorporeal robotic ultrasound acquisitions that focus on continuum robot…
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D…
Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven…
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…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
Manual tissue extraction from potato tubers for molecular pathogen detection is highly laborious. This study presents a machine-vision-guided, dual-arm coordinated inline robotic system integrating tuber grasping and tissue sampling…