Publications

Bridging innovation and practice: the journey of FAROS from technical design to in-vivo animal validation
CLINICCAI (MICCAI) 2024 (Marrakesh, Morocco) Conference Abstract titled "Bridging innovation and practice: the journey of FAROS …
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Automatic Spinal Canal Breach Detection During Pedicle Screw Placement
Precise pedicle screw placement is imperative for a range of spinal procedures demanding exact geometric alignment while also carrying …
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Ultrasound-Based Robot-Assisted Drilling for Minimally Invasive Pedicle Screw Placement
Minimally invasive pedicle screw placement (MIPSP) is a widely used treatment for spine diseases. When coupled with intraoperative …
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Transferring Relative Monocular Depth to Surgical Vision with Temporal Consistency
Relative monocular depth, inferring depth up to shift and scale from a single image, is an active research topic. Recent deep learning …
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Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion
In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with …
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Scribble-Based Interactive Segmentation of Medical Hyperspectral Images
Hyperspectral imaging (HSI) is an advanced medical imaging modality that captures optical data across a broad spectral range, providing …
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Pedicle Drilling Planning Transfer for Spine Surgery Using Functional Map Correspondences
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Optimal Patient Positioning Based on a Workspace Analysis for US-guided Robotic Pedicle Screw Placement
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LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots
The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA’s Fast Robot Interface …
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Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter …
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Development of Smart Low-cost Ball-tip Feeler for Automatic Breach Detection in Pedicle Screw Placement
Pedicle screw placement (PSP) is crucial for managing symptomatic spinal disorders, but its success hinges on accurate placement to …
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Development and evaluation of robot-assisted ultrasound navigation system for pedicle screw placement: An ex-vivo animal validation
Spinal instrumentation with pedicle screw placement (PSP) is an important surgical technique for spinal diseases. Accurate screw …
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Breathing Motion Compensation Based on Long Short-Term Memory Network for Minimally Invasive Pedicle Screw Placement
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Breach Detection in Spine Surgery Based on Cutting Torque
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An Approach for Collaborative Robot-Assisted Endoscopic Lumbar Discectomy
Endoscopic Lumbar Discectomy (ELD) is a mini-mally invasive surgical procedure to remove the herniated disc material. In ELD, the …
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All-Ultrasound-Guided Path Planning for Robotic Pedicle Screw Placement
Pedicle screw placement (PSP) is a challenging procedure in spine surgery, due to poor visualization of the vertebrae and blood …
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A self-supervised and adversarial approach to hyperspectral demosaicking and RGB reconstruction in surgical imaging
Hyperspectral imaging holds promises in surgical imaging by offering biological tissue differentiation capabilities with detailed …
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Towards the robotic approach for Endoscopic Lumbar Discectomy (ELD) surgery: design of a mechanism for the manual actuation of the gripper for holding the endoscope
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State-of-the-Art of Non-Radiative, Non-Visual Spine Sensing with a Focus on Sensing Forces, Vibrations and Bioelectrical Properties: A Systematic Review
In the research field of robotic spine surgery, there is a big upcoming momentum for surgeon-like autonomous behaviour and surgical …
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Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study
Purpose. Robot-assisted ultrasound (rUS) systems have already been used to provide non-radiative three-dimensional (3D) reconstructions …
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Vision and Contact based Optimal Control for Autonomous Trocar Docking
Future operating theaters will be equipped with robots to perform various surgical tasks including, for example, endoscope control …
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VideoSum: A Python Library for Surgical Video Summarization
The performance of deep learning (DL) algorithms is heavily influenced by the quantity and the quality of the annotated data. However, …
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Using a Force-Controlled Robot for Probing-Based Registration and Automated Bone Drilling in Pedicle Screw Placement Procedures
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Ultrasound-based Robot-assisted Drilling System for Pedicle Screw Placement
Pedicle screw placement (PSP) is a common procedure for spine surgery with proven benefits. However, some drawbacks exist; the screw …
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Synthetic white balancing for intra-operative hyperspectral imaging
Hyperspectral imaging shows promise for surgical applications to non-invasively provide spatially-resolved, spectral information. For …
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Spatial gradient consistency for unsupervised learning of hyperspectral demosaicking: application to surgical imaging
Hyperspectral imaging has the potential to improve intraoperative decision making if tissue characterisation is performed in real-time …
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Safe Deep RL for Intraoperative Planning of Pedicle Screw Placement
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Rapid and robust endoscopic content area estimation: A lean GPU-based pipeline and curated benchmark dataset
Endoscopic content area refers to the informative area enclosed by the dark, non-informative, border regions present in most endoscopic …
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Path Re-planning for Robotic Ultrasound Imaging of the Lumbar Spine
Ultrasound (US) scanning has become increasingly popular in a wide range of clinical applications as it provides radiation-free, …
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OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in …
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Hyperspectral image segmentation: a preliminary study on the Oral and Dental Spectral Image Database (ODSI-DB)
Visual discrimination of clinical tissue types remains challenging, with traditional RGB imaging providing limited contrast for such …
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Design of an ex-vivo experimental setup for spine surgery based on in-vivo identification of respiration-induced spine movement
In spine surgery, e.g., pedicle screw placement, patients are in the prone position, anesthetized, and breath using respirators. …
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Deep Reinforcement Learning Based System for Intraoperative Hyperspectral Video Autofocusing
Hyperspectral imaging (HSI) captures a greater level of spectral detail than traditional optical imaging, making it a potentially …
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Deep Homography Prediction for Endoscopic Camera Motion Imitation Learning
In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic …
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Computed-Tomography based Mechanical Impedance Identification for Breach Detection in Pedicle Screw Placement
Nowadays, spinal disease has gradually increased due to population aging, improper lifestyle, or accidents; for example, intervertebral …
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Automatic breach detection during spine pedicle drilling based on vibroacoustic sensing
Pedicle drilling is a complex and critical spinal surgery task. Detecting breach or penetration of the surgical tool to the cortical …
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Automatic bone breach detection using electrical conductivity during pedicle drilling in spine surgery
Current studies conducted in the field of robotic-assisted spinal surgery are focused on using navigation as a tool for optimizing …
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A Comparative Study for Control of Semi-Automatic Robotic-assisted Ultrasound System in Spine Surgery
Ultrasound (US) imaging has been widely applied in different clinical scenarios thanks to its low-cost and non-radiative nature. …
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Automation of pedicle screw placement by coupling distal bone bio-impedance measurements and robotics
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Intraoperative tissue classification methods in orthopedic and neurological surgeries: a systematic review
Accurate tissue differentiation during orthopedic and neurological surgeries is critical, given that such surgeries involve operations …
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Automatic Robotic Scanning for real-time 3D Ultrasound Reconstruction in Spine Surgery
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Automatic bone breach detection for spine surgery based on bio-electrical conductivity sensing: Ex-vivo experimental validation
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A posterior landmark-based registration-free method to identify pedicle screw trajectories for robot-based navigation: A proof-of-concept
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Robotic Endoscope Control Via Autonomous Instrument Tracking
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to …
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Surgical Process Modeling for Open Spinal Surgeries
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ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich …
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Quantitative Assessment of Calibration Motion Profiles in Robotic-assisted Ultrasound System
3D ultrasound(US) reconstruction has grown quickly in preoperative disease diagnosis, intraoperative surgical navigation and …
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Force control of the KUKA LBR Med without external force sensor
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Deep homography estimation in dynamic surgical scenes for laparoscopic camera motion extraction
Current laparoscopic camera motion automation relies on rule-based approaches or only focuses on surgical tools. Imitation Learning …
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An augmented reality-based interaction scheme for robotic pedicle screw placement
Robot-assisted surgery is becoming popular in the operation room (OR) for, e.g., orthopedic surgery (among other surgeries). However, …
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A Virtual Spine Construction Algorithm for a Patient - Specific Pedicle Screw Surgical Simulators
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Comparative Quantitative Analysis of Robotic Ultrasound Image Calibration Methods
Ultrasound (US) calibration is an important step in robotic 3D US reconstruction. It determines the spatial transformation from the …
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A Framework for Fast Automatic Robot Ultrasound Calibration
Ultrasound (US) has been increasingly used as medical imaging technology across various clinical diagnostic and therapeutic scenarios …
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Using Electrical Conductivity for Breach Prevention During Automatic Bone Drilling
Introduction. Dynamic Surgical Guidance (DSG) technology has proven to increase screw placement accuracy and prevent pedicle breaches …
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Intraoperative hyperspectral label-free imaging: from system design to first-in-patient translation
Despite advances in intraoperative surgical imaging, reliable discrimination of critical tissue during surgery remains challenging. As …
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Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation
The dominant visual servoing approaches in Minimally Invasive Surgery (MIS) follow single points or adapt the endoscope’s field …
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Deep learning approach for hyperspectral image demosaicking, spectral correction and high-resolution RGB reconstruction
Hyperspectral imaging is one of the most promising techniques for intraoperative tissue characterisation. Snapshot mosaic cameras, …
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