5 accepted papers
The success rate of catheterization procedures is closely linked to the sensory data provided to the surgeon. Vision-based deep learning models can deliver both tactile and visual information in a sensor-free manner, while also being cost-effective to produce. Given the complexity of these models fo
Estimating the applied forces in three dimensions during catheter-based surgeries can make the entire process tangible for surgeons. This will result in diminishing the risk of fatal errors while improving the outcome of the surgery. In this work, a novel deep convolutional neural network is propose
Tip force estimation on continuum arms is of crucial clinical importance for catheter-based procedures, i.e., catheter-based ablation therapies. In this study, an analytical solution for force estimation based on inverse Cosserat rod modeling was proposed and validated. Initially, a previously valid…
Catheter/guidewire manipulation in endovascu-lar intervention procedures are associated with risks of injury on vessel wall and embolization. Determination of catheter/guidewire-vessel interaction contact forces can improve the navigation process safety and efficiency which prevent injuries in both…
This paper investigates the incorporation of hidden conditional random fields (HCRF) as a discriminative statistical modeling technique into adaptive haptic guidance (HG) for physical human-robot interaction (pHRI). In this gesture-based HG approach, the knowledge and experience of experts are model