7 accepted papers
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain tasks could alleviate the physical and mental load of doctors…
Non-linearities in cable transmissions are important limitations for the accurate control of flexible instruments used in medical endoscopic systems. Hysteresis effects greatly impact the accuracy of conventional kinematic models. This is especially critical for implementing automatic motions in fle…
We present a new quasi-affine reconstruction of a scene and its application to camera self-calibration. We refer to this reconstruction as QUARCH (QUasi-Affine Reconstruction with respect to Camera centers and the Hodographs of horopters). A QUARCH can be obtained by solving a semidefinite programmi…
This paper addresses the problem of estimating the Euclidean transformation relating two rigidly attached reference frames from motion measurements: a problem that is commonly referred to as the Hand-Eye calibration. The motion measurements are often affected by synchronization issues and hardware m…
This paper introduces an Augmented Reality (AR) system for open liver surgery. Although open surgery remains the gold-standard for the treatment of complex tumors and central lesions, technological issues actually prevent using AR with sufficient accuracy for clinical use. We propose a markers-based…
Minimally-invasive (MI) procedures are becoming more popular and frequent due to their benefits such as reduced patient trauma and hospitalization time. However, several common types of MI interventions are performed under X-ray guidance, which exposes both patients and staff to harmful ionizing rad…
This paper introduces a new method for automatic robotic needle steering in deformable tissues. The main contribution relies on the use of an inverse Finite Element (FE) simulation to control an articulated robot interacting with deformable structures. In this work we consider a flexible needle, emb…