相关论文: Optimization of an Augmented R-CUBE mechanism for …
Spinal fixation procedures are currently limited by the rigidity of the existing instruments and pedicle screws leading to fixation failures and rigid pedicle screw pull out. Leveraging our recently developed Concentric Tube Steerable…
In spinal vertebral mobility disease, accurately extracting and contouring vertebrae is essential for assessing mobility impairments and monitoring variations during flexion-extension movements. Precise vertebral contouring plays a crucial…
Rigid body dynamics is a key technology in the robotics field. In trajectory optimization and model predictive control algorithms, there are usually a large number of rigid body dynamics computing tasks. Using CPUs to process these tasks…
Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the potential described in the literature as…
Accurately estimating and correcting the motion artifacts are crucial for 3D image reconstruction of the abdominal and in-utero magnetic resonance imaging (MRI). The state-of-art methods are based on slice-to-volume registration (SVR) where…
Current pelvic fixation techniques rely on rigid drilling tools, which inherently constrain the placement of rigid medical screws in the complex anatomy of pelvis. These constraints prevent medical screws from following anatomically optimal…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…
Treatment for high-grade precancerous cervical lesions and early-stage cancers, mainly affecting women of reproductive age, often involves fertility-sparing treatment methods. Commonly used local treatments for cervical precancers have…
The CYCLOPS is a cable-driven parallel mechanism used for minimally invasive applications, with the ability to be customised to different surgical needs; allowing it to be made procedure- and patient-specific. For adequate optimisation,…
Reconstruction of the mandible is one of the most common challenges facing maxillofacial surgeons. The mandible plays a major role in supporting the teeth inside the mouth. This work aims to develop a proposed methodology for improving…
Accurate vertebra localization and identification are required in many clinical applications of spine disorder diagnosis and surgery planning. However, significant challenges are posed in this task by highly varying pathologies (such as…
Esophageal cancer remains a highly aggressive malignancy with low survival rates, requiring advanced surgical interventions like esophagectomy. Traditional manual techniques, including circular staplers, face challenges such as limited…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…
The proposed work establishes a novel Graphical User Interface (GUI) framework, primarily designed for intraoperative pedicle screw planning. Current planning workflow in Image Guided Surgeries primarily relies on pre-operative CT planning.…
Polycube segmentations for 3D models effectively support a wide variety of applications such as seamless texture mapping, spline fitting, structured multi-block grid generation, and hexahedral mesh construction. However, the automated…
There has been a significant increase from 2010 to 2016 in the number of people suffering from spine problems. The automatic image segmentation of the spine obtained from a computed tomography (CT) image is important for diagnosing spine…
In this paper, with the goal of enhancing the minimally invasive spinal fixation procedure in osteoporotic patients, we propose a first-of-its-kind image-guided robotic framework for performing an autonomous and patient-specific procedure…
In this paper we present a new 3D segmentation approach for the vertebrae of the lower thoracic and the lumbar spine in spiral computed tomography datasets. We implemented a multi-step procedure. Its main components are deformable models,…
Despite the undeniable advantages of image-guided surgical assistance systems in terms of accuracy, such systems have not yet fully met surgeons' needs or expectations regarding usability, time efficiency, and their integration into the…