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Type
Conference paper
Journal article
Date
2023
2022
2021
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 …
Ruixuan Li
,
Ayoob Davoodi
,
Yuyu Cai
,
Kenan Niu
,
Gianni Borghesan
,
Nicola A. Cavalcanti
,
Aidana Massalimova
,
Fabio Carrillo
,
Christoph Laux
,
Mazda Farshad
,
Philipp Fürnstahl
,
Emmanuel Vander Poorten
Cite
DOI
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 …
Christopher E. Mower
,
Martin Huber
,
Huanyu Tian
,
Ayoob Davoodi
,
Emmanuel Vander Poorten
,
Tom Vercauteren
,
Christos Bergeles
Cite
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, …
Luis Carlos Garcia-Peraza-Herrera
,
Sebastien Ourselin
,
Tom Vercauteren
Cite
arXiv
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 …
Ruixan Li
,
Ayoob Davoodi
,
Maikel Timmermans
,
Kaat Van Assche
,
Gianni Borghesan
,
Emmanuel Vander Poorten
Cite
Synthetic white balancing for intra-operative hyperspectral imaging
Hyperspectral imaging shows promise for surgical applications to non-invasively provide spatially-resolved, spectral information. For …
Anisha Bahl
,
Conor Horgan
,
Mirek Janatka
,
Oscar MacCormac
,
Philip Noonan
,
Yijing Xie
,
Jianrong Qiu
,
Nicola A. Cavalcanti
,
Philipp Fürnstahl
,
Michael Ebner
,
Mads S. Bergholt
,
Jonathan Shapey
,
Tom Vercauteren
Cite
DOI
arXiv
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 …
Maikel Timmermans
,
Aidana Massalimova
,
Ruixuan Li
,
Ayoob Davoodi
,
Quentin Goossens
,
Kenan Niu
,
Emmanuel Vander Poorten
,
Philipp Fürnstahl
,
Kathleen Denis
Cite
DOI
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 …
Peichao Li
,
Muhammad Asad
,
Conor Horgan
,
Oscar MacCormac
,
Jonathan Shapey
,
Tom Vercauteren
Cite
DOI
arXiv
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 Carlos Garcia-Peraza-Herrera
,
Martin Huber
,
Sebastien Ourselin
,
Tom Vercauteren
Cite
DOI
arXiv
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, …
Kaat Van Assche
,
Ayoob Davoodi
,
Ruixan Li
,
Mouloud Ourak
,
Gianni Borghesan
,
Emmanuel Vander Poorten
Cite
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
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 …
Luis Carlos Garcia-Peraza-Herrera
,
Conor Horgan
,
Sebastien Ourselin
,
Michael Ebner
,
Tom Vercauteren
Cite
DOI
arXiv
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. …
Elie Saghbiny
,
Saman Vafadar
,
Antoine Harl/'e
,
Guillaume Morel
PDF
Cite
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 …
Charlie Budd
,
Jianrong Qiu
,
Oscar MacCormac
,
Martin Huber
,
Christopher E. Mower
,
Mirek Janatka
,
Théo Trotouin
,
Jonathan Shapey
,
Mads S. Bergholt
,
Tom Vercauteren
Cite
arXiv
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 …
Martin Huber
,
Sebastien Ourselin
,
Christos Bergeles
,
Tom Vercauteren
Cite
arXiv
URL
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 …
Ayoob Davoodi
,
Maikel Timmermans
,
Ruixan Li
,
Gianni Borghesan
,
Kathleen Denis
,
Emmanuel Vander Poorten
Cite
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 …
Aidana Massalimova
,
Maikel Timmermans
,
Nicola A. Cavalcanti
,
Daniel Suter
,
Matthias Seibold
,
Fabio Carrillo
,
Christoph Laux
,
Reto Sutter
,
Mazda Farshad
,
Kathleen Denis
,
Philipp Fürnstahl
Cite
DOI
URL
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 …
Jorge Andres Perez Velasquez
,
Francois Teyssere
,
Christina Bobbio
,
Thibault Chandanson
,
Quentin Grimal
,
Brahim Tamadazte
Cite
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. …
Ayoob Davoodi
,
Ruixuan Li
,
Yuyu Cai
,
Kenan Niu
,
Gianni Borghesan
,
Emmanuel Vander Poorten
Cite
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 Vafadar
,
Thibault Chandanson
,
Guillaume Morel
Cite
Automatic Robotic Scanning for real-time 3D Ultrasound Reconstruction in Spine Surgery
Ruixuan 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
A posterior landmark-based registration-free method to identify pedicle screw trajectories for robot-based navigation: A proof-of-concept
Daniel Suter
,
Aidana Massalimova
,
Christoph Laux
,
Fabio Carrillo
,
Mazda Farshad
,
Philipp Fürnstahl
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 Carlos 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
PDF
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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