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Celia Riga

8 accepted papers

2020

Collaborative Robot-Assisted Endovascular Catheterization with Generative Adversarial Imitation Learning

Wenqiang Chi, Giulio Dagnino, Trevor M. Y. Kwok, Anh Nguyen, Dennis Kundrat, Mohamed E. M. K. Abdelaziz +3
ICRA 2020poster

Master-slave systems for endovascular catheterization have brought major clinical benefits including reduced radiation doses to the operators, improved precision and stability of the instruments, as well as reduced procedural duration. Emerging deep reinforcement learning (RL) technologies could pot…

Cited by 116Source ↗Scholar ↗
2020

End-to-End Real-time Catheter Segmentation with Optical Flow-Guided Warping during Endovascular Intervention

Anh Nguyen, Dennis Kundrat, Giulio Dagnino, Wenqiang Chi, Mohamed E. M. K. Abdelaziz, Yao Guo +4
ICRA 2020poster

Accurate real-time catheter segmentation is an important pre-requisite for robot-assisted endovascular intervention. Most of the existing learning-based methods for catheter segmentation and tracking are only trained on smallscale datasets or synthetic data due to the difficulties of ground-truth an…

Cited by 38Source ↗Scholar ↗
2019

Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study

Mohamed E. M. K. Abdelaziz, Dennis Kundrat, Marco Pupillo, Giulio Dagnino, Trevor M. Y. Kwok, Wenqiang Chi +5
IROS 2019poster

Cardiovascular diseases remain as the most common cause of death worldwide. Remotely manipulated robotic systems are utilized to perform minimally invasive endovascular interventions. The main benefits of this methodology include reduced recovery time, improvement of clinical skills and procedural f…

Cited by 71Source ↗Scholar ↗
2019

Towards 3D Path Planning from a Single 2D Fluoroscopic Image for Robot Assisted Fenestrated Endovascular Aortic Repair

Jian-Qing Zheng, Xiao-Yun Zhou, Celia Riga, Guang-Zhong Yang
ICRA 2019poster

The current standard of intra-operative navigation during Fenestrated Endovascular Aortic Repair (FEVAR) calls for the need of 3D alignments between inserted devices and aortic branches. The navigation commonly via 2D fluoroscopic images, lacks anatomical information, resulting in longer operation h…

Cited by 19Source ↗Scholar ↗
2018

Towards Automatic 3D Shape Instantiation for Deployed Stent Grafts: 2D Multiple-class and Class-imbalance Marker Segmentation with Equally-weighted Focal U-Net

Xiao-Yun Zhou, Celia Riga, Su-Lin Lee, Guang-Zhong Yang
IROS 2018poster

Robot-assisted Fenestrated Endovascular Aortic Repair (FEVAR) is currently navigated by 2D fluoroscopy which is insufficiently informative. Previously, a semi-automatic 3D shape instantiation method was developed to instantiate the 3D shape of a main, deployed, and fenestrated stent graft from a sin…

Cited by 24Source ↗Scholar ↗
2018

Trajectory Optimization of Robot-Assisted Endovascular Catheterization with Reinforcement Learning

Wenqiang Chi, Jindong Liu, Mohamed E. M. K. Abdelaziz, Giulio Dagnino, Celia Riga, Colin Bicknell +1
IROS 2018poster

Emerging robot-assisted endovascular intervention has the potential to reduce X-ray radiations to the operator while enhancing the stability and dexterity of catheter manipulation. Supervised and shared autonomy of endovascular procedures could add further improvements in reduced fatigue and cogniti…

Cited by 60Source ↗Scholar ↗
2017

A learning based training and skill assessment platform with haptic guidance for endovascular catheterization

Wenqiang Chi, Hedyeh Rafii-Tari, Christopher J. Payne, Jindong Liu, Celia Riga, Colin Bicknell +1
ICRA 2017poster

Increasing demands in endovascular intervention have motivated technical skill training and competency-based measures of performance. However, there are no well-established online metrics for technical skill assessment; few studies have explored operator behavioral patterns from catheter motion and…

Cited by 26Source ↗Scholar ↗
2015

Towards automated surgical skill evaluation of endovascular catheterization tasks based on force and motion signatures

Hedyeh Rafii-Tari, Christopher J. Payne, Jindong Liu, Celia Riga, Colin Bicknell, Guang-Zhong Yang
ICRA 2015poster

Despite the increased use of robotic catheter navigation systems, and the growing interest in surgical skill evaluation in the field of endovascular intervention, there is a lack of objective and quantitative metrics for performance evaluation. So far very little research has studied operator behavi…

Cited by 0Source ↗Scholar ↗