相关论文: Automated Robotic Needle Puncture for Percutaneous…
Many tasks in robot-assisted surgery require planning and controlling manipulators' motions that interact with highly deformable objects. This study proposes a realistic, time-bounded simulator based on Position-based Dynamics (PBD)…
Image segmentation plays an essential role in medicine for both diagnostic and interventional tasks. Segmentation approaches are either manual, semi-automated or fully-automated. Manual segmentation offers full control over the quality of…
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critical role, successful vascular access remains challenging due…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
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…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
Three-dimensional transesophageal echocardiography (3DTEE) is the recommended imaging technique for the assessment of mitral valve (MV) morphology and lesions in case of mitral regurgitation (MR) requiring surgical or transcatheter repair.…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
Depth completion is crucial for many robotic tasks such as autonomous driving, 3-D reconstruction, and manipulation. Despite the significant progress, existing methods remain computationally intensive and often fail to meet the real-time…
Prostate cancer is one of the most common types of cancer in men. Its diagnosis by biopsy requires a high level of expertise and precision from the surgeon, so the results are highly operator-dependent. The aim of this work is to develop a…
Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…
For several cancer patients, operative resection with curative intent can end up in early recurrence of the cancer. Current limitations in peri-operative cancer staging and especially intra-operative misidentification of visible metastases…
Detailed pulmonary airway segmentation is a clinically important task for endobronchial intervention and treatment of peripheral located lung cancer lesions. Convolutional Neural Networks (CNNs) are promising tools for medical image…
The automatic segmentation of pathological regions within whole-body PET-CT volumes has the potential to streamline various clinical applications such as diagno-sis, prognosis, and treatment planning. This study aims to address this…
In this paper we investigate the mechanical problem of piercing a soft solid body with a needle. This phenomenon is controlled by the critical condition of needle insertion. Needle insertion involves physical and geometrical nonlinearities…
Surgical guide plate is an important tool for the dental implant surgery. However, the design process heavily relies on the dentist to manually simulate the implant angle and depth. When deep neural networks have been applied to assist the…
Echocardiography is a key imaging modality for cardiac assessment but remains highly operator-dependent, and access to trained sonographers is limited in underserved settings. Teleoperated robotic echocardiography has been proposed as a…
Background: Automated analysis of CT scans for abdominal organ measurement is crucial for improving diagnostic efficiency and reducing inter-observer variability. Manual segmentation and measurement of organs such as the kidneys, liver,…
Deep anterior lamellar keratoplasty (DALK) is a highly challenging partial thickness cornea transplant surgery that replaces the anterior cornea above Descemet's membrane (DM) with a donor cornea. In our previous work, we proposed the…