9 accepted papers
Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US imaging presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip
Defocus blur is a persistent problem in microscope imaging that poses harm to pathology interpretation and medical intervention in cell microscopy and microscope surgery. To address this problem a unified framework including the multi-pyramid transformer (MPT) and extended frequency contrastive regu…
Pericardiocentesis is an important surgical intervention to treat a medical condition called pericardial effusion, during which excessive fluid accumulates around the heart, potentially leading to life-threatening situation. It involves the insertion of a needle and catheter towards the heart into t…
Ultrasound (US) is widely used in image-guided needle procedures. Correctly tracking the needle tip position in US images during the procedure plays an important role in improving the needle targeting accuracy and patient safety. This paper presents a leaning-based visual tracking network with a Sia…
Transoral robotic surgery (TORS) in upper aerodigestive tract remains challenging due to the rigidity and insufficient workspace of existing instruments, and inappropriate balance between compliance and stiffness in flexible instruments. In this letter, a flexible surgical robotic instrument, featur
Ultrasound (US) is commonly used in percutaneous needle procedures for real-time guidance. Accurate and robust automatic needle tracking is highly desirable to address the influence of noise and artifacts in US images. This letter presents a tracking approach which combines an improved compressive t
Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject to external interaction, potentially leading to poor control performance. In this letter, we investigate the feasibility
Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that
The letter presents a compact shape memory alloy (SMA)-actuated magnetic resonance (MR)-conditional neurosurgical robotic system. It consists of a 2-degree of freedom (DoF) cable-driven steerable end effector, an antagonistic SMA springs-based actuation module, and a quick-connect module, packaged i