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Type
Conference paper
Journal article
Date
2023
2022
2021
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 …
Charlie Budd
,
Luis C Garcia-Peraza-Herrera
,
Martin Huber
,
Sebastien Ourselin
,
Tom Vercauteren
Cite
DOI
arXiv
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 …
Christopher E. Mower
,
João Moura
,
Nazanin Zamani Behabadi
,
Sethu Vijayakumar
,
Tom Vercauteren
,
Christos Bergeles
Cite
arXiv
URL
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 …
Aidana Massalimova
,
Maikel Timmermans
,
Hooman Esfandiari
,
Fabio Carrillo
,
Christoph Laux
,
Mazda Farshad
,
Kathleen Denis
,
Philipp Fürnstahl
Cite
DOI
Force control of the KUKA LBR Med without external force sensor
Jimmy Da Silva
,
Saman Vadafar
,
Thibault Chandanson
,
Guillaume Morel
Cite
Automatic Robotic Scanning for real-time 3D Ultrasound Reconstruction in Spine Surgery
Ruixan Li
,
Ayoob Davoodi
,
Kenan Niu
,
Yuyu Cai
,
Emmanuel Vander Poorten
Cite
URL
Automatic bone breach detection for spine surgery based on bio-electrical conductivity sensing: Ex-vivo experimental validation
Jimmy Da Silva
,
Elie Saghbiny
,
Thibault Chandanson
,
Stephane Bette
,
Maurice Bourlion
,
Guillaume Morel
Cite
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 …
Caspar Gruijthuijsen
,
Luis C Garcia-Peraza-Herrera
,
Gianni Borghesan
,
Dominiek Reynaerts
,
Jan Deprest
,
Sebastien Ourselin
,
Tom Vercauteren
,
Emmanuel Vander Poorten
Cite
DOI
arXiv
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 …
Christopher E. Mower
,
Theodoros Stouraitis
,
João Moura
,
Christian Rauch
,
Lei Yan
,
Nazanin Zamani Behabadi
,
Michael Gienger
,
Tom Vercauteren
,
Christos Bergeles
,
Sethu Vijayakumar
Cite
arXiv
URL
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 …
Maarten Schoovaerts
,
Ruixuan Li
,
Kenan Niu
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Martin Huber
,
Sebastien Ourselin
,
Christos Bergeles
,
Tom Vercauteren
Cite
DOI
arXiv
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 …
Ruixuan Li
,
Yuyu Cai
,
Kenan Niu
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Ruixuan Li
,
Kenan Niu
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Jimmy Da Silva
,
Elie Saghbiny
,
Thibault Chandanson
,
Stephane Bette
,
Maurice Bourlion
,
Richard Assaker
,
Randall Betz
,
Ciaran Bolger
,
Helton Defino
,
Andre Kaelin
,
Larry T. Khoo
,
John Williams
,
Hee Kit Wong
,
Guillaume Morel
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Cite
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 …
Michael Ebner
,
Eli Nabavi
,
Jonathan Shapey
,
Yijing Xie
,
Florentin Liebmann
,
José Miguel Spirig
,
Armando Hoch
,
Mazda Farshad
,
Shakeel R Saeed
,
Robert Bradford
,
Iain Yardley
,
Sebastien Ourselin
,
A David Edwards
,
Philipp Fürnstahl
,
Tom Vercauteren
Cite
DOI
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 …
Martin Huber
,
John Bason Mitchell
,
Ross Henry
,
Sebastien Ourselin
,
Tom Vercauteren
,
Christos Bergeles
Cite
DOI
arXiv
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, …
Peichao Li
,
Michael Ebner
,
Philip Noonan
,
Conor Horgan
,
Anisha Bahl
,
Sebastien Ourselin
,
Jonathan Shapey
,
Tom Vercauteren
Cite
DOI
arXiv
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