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Mouloud Ourak

17 accepted papers

2026

Real-Time 3D Needle Guidance Using Dynamic Spiral OCT Scanning and Shape-Driven Pose Extraction in Retinal Interventions

Pengwei Xu, Mouloud Ourak, Gianni Borghesan, Ivo De Clerck, Daniel Corona Oliveira Costa, Joy Haegemans +2
RA-L 2026

Reliable microneedle guidance during subretinal injection remains a major clinical challenge. One of the reasons is that surgeons must infer the 3D position of the needle from a stereomicroscope that offers limited depth perception and from narrow B-scan iOCT cross-sections that cover only a fractio

Cited by 0Source ↗Scholar ↗
2025

FBG-based Actuation and Data Driven Contact Detection for Smart Steerable Instruments

Syed Zain Mehdi, Witse Janssens, Marijn Gielen, Emma Vanderschueren, Mouloud Ourak, Chris Verslype +2
IROS 2025

Catheters and guidewires are increasingly used to navigate tortuous paths offering minimal invasive access to deeply seated locations in the body. Steering these instruments is highly challenging among others due to poor awareness of the configuration such instrument takes on in the body. To address

Cited by 0Source ↗Scholar ↗
2024

Autonomous Robotic Ultrasound Approach for Fetoscope Tracking by Fusing Optical and 2D Ultrasound Data

Yuyu Cai, Ruixuan Li, Ayoob Davoodi, Mouloud Ourak, Jan Deprest, Emmanuel B. Vander Poorten
RA-L 2024

2D ultrasound (US) guidance is an essential tool in fetoscopic laser photocoagulation (FLP) to treat twin-to-twin transfusion syndrome (TTTS). During the procedure, the sonographer and endoscopic surgeon manage different image modalities each with its own field of view. Tacit collaboration is needed

Cited by 5Source ↗Scholar ↗
2023

Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber

Xuan Thao Ha, Di Wu, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi, Emmanuel B. Vander Poorten
RA-L 2023

Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic shape sensing and Electromagnetic Tracking (EMT), the 3D ca

Cited by 21Source ↗Scholar ↗
2022

Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach

Xuan Thao Ha, Di Wu, Chun-Feng Lai, Mouloud Ourak, Gianni Borghesan, Arianna Menciassi +1
RA-L 2022

Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this cou

Cited by 21Source ↗Scholar ↗
2022

Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

Di Wu, Xuan Thao Ha, Yao Zhang, Mouloud Ourak, Gianni Borghesan, Kenan Niu +4
RA-L 2022

In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents

Cited by 39Source ↗Scholar ↗
2022

Local One-Dimensional Motion Estimation Using FBG-Based Shape Sensing for Cardiac Applications

Omar Al-Ahmad, Mouloud Ourak, Johan Vlekken, Emmanuel B. Vander Poorten
RA-L 2022

The human heart is a fragile and dynamic organ that requires careful approach during catheter intervention. It is essential for physicians to have a high degree of awareness of the anatomy and the relative pose of the catheter when operating inside the heart. One of the key aspects that can aid phys

Cited by 5Source ↗Scholar ↗
2021

Fusion of Biplane Fluoroscopy With Fiber Bragg Grating for 3D Catheter Shape Reconstruction

Mouloud Ourak, Stijn De Buck, Xuan Thao Ha, Omar Al-Ahmad, Kobe Bamps, Joris Ector +1
RA-L 2021

Nowadays, navigating therapeutic catheters takes place under 2D fluoroscopic imaging. This requires considerable training of the clinician and exposes him/her to X-ray radiation. Researchers have increasingly investigated alternative sensing techniques. In this respect, Fiber Bragg Grating (FBG)-bas

Cited by 29Source ↗Scholar ↗
2021

Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction

Di Wu, Yao Zhang, Mouloud Ourak, Kenan Niu, Jenny Dankelman, Emmanuel B. Vander Poorten
RA-L 2021

Catheters are increasingly being used to tackle problems in the cardiovascular system. However, positioning precision of the catheter tip is negatively affected by hysteresis. To ensure tissue damage due to imprecise positioning is avoided, hysteresis is to be understood and compensated for. This wo

Cited by 52Source ↗Scholar ↗
2020

Improved FBG-Based Shape Sensing Methods for Vascular Catheterization Treatment

Omar Al-Ahmad, Mouloud Ourak, Jan Van Roosbroeck, Johan Vlekken, Emmanuel B. Vander Poorten
RA-L 2020

Fiber optic shape sensing is gaining popularity within areas such as medical catheterization where catheters and guidewires are used to navigate through tortuous vascular paths. Shape sensing can aid medical interventionalists by reducing exposure to damaging radiation and providing a more detailed

Cited by 83Source ↗Scholar ↗
2019

Electrical Bio-Impedance Proximity Sensing for Vitreo-Retinal Micro-Surgery

Laurent Schoevaerdts, Gianni Borghesan, Mouloud Ourak, Dominiek Reynaerts, Emmanuel B. Vander Poorten
RA-L 2019

Retinal vein occlusion is a widespread eye vascular disease leading to vision loss because of clots obstructing a retinal vessel. Recent research investigated retinal vein cannulation, a promising treatment in which a microneedle injects a thrombolytic agent inside the clotted vessel. During this su

Cited by 6Source ↗Scholar ↗
2018

Automatic Tool Landmark Detection for Stereo Vision in Robot-Assisted Retinal Surgery

Thomas Probst, Kevis-Kokitsi Maninis, Ajad Chhatkuli, Mouloud Ourak, Emmanuel B. Vander Poorten, Luc Van Gool
RA-L 2018

Computer vision and robotics are being increasingly applied in medical interventions. Especially in interventions where extreme precision is required, they could make a difference. One such application is robot-assisted retinal microsurgery. In recent works, such interventions are conducted under a

Cited by 49Source ↗Scholar ↗
2018

From a Disposable Ureteroscope to an Active Lightweight Fetoscope - Characterization and Usability Evaluation

Julie Legrand, Mouloud Ourak, Allan Javaux, Caspar Gruijthuijsen, Mirza Awais Ahmad, Ben Van Cleynenbreugel +4
RA-L 2018

The twin-to-twin transfusion syndrome is a severe fetal anomaly appearing in up to 15% of identical twin pregnancies. This anomaly occurs when twins share blood vessels from a common placenta. The complication leads to an unbalanced blood transfusion between both fetuses. A current surgical treatmen

Cited by 15Source ↗Scholar ↗
2018

Innovative Bio-Impedance Sensor Towards Puncture Detection in Eye Surgery for Retinal Vein Occlusion Treatment

Laurent Schoevaerdts, Laure Esteveny, Gianni Borghesan, Mouloud Ourak, Andy Gijbels, Jonas Smits +2
ICRA 2018poster

At the moment, surgeons struggle curing a widespread eye disease known as retinal vein occlusion where clots obstruct the retinal vessels. Latter vascular disorder involves black spots in people's eyesight and lead eventually to blindness. A recent promising treatment consists in flushing a thrombol…

Cited by 4Source ↗Scholar ↗
2016

Automated in-plane OCT-probe positioning towards repetitive optical biopsies

Mouloud Ourak, Alessandra De Simone, Brahim Tamadazte, Guillaume J. Laurent, Arianna Menciassi, Nicolas Andreff
ICRA 2016

This paper proposes the design of a vision-guided control law for microrobotic-assisted biomedical applications. More precisely, the developed control law is to servo an optical coherence tomography (OCT) system in real-time to carry out repetitive optical biopsy tasks. The OCT images are simultaneo

Cited by 6Source ↗Scholar ↗
2016

Partitioned camera-OCT based 6 DOF visual servoing for automatic repetitive optical biopsies

Mouloud Ourak, Brahim Tamadazte, Nicolas Andreff
IROS 2016poster

This paper addresses the design of a partitioned vision-guided scheme for repetitive optical biopsies. More precisely, our approach uses two image modalities to perform 6 degrees of freedom (DOF) positioning task. The development aims to partition the control into 3 DOF controlled by the B-scan imag…

Cited by 13Source ↗Scholar ↗