58 citations · 212 across the 44 of their papers we have counts for
45 papers
Robotic versus Human Teleoperation for Remote Ultrasound
David Black, Septimiu Salcudean
Diagnostic medical ultrasound is widely used, safe, and relatively low cost but requires a high degree of expertise to acquire and interpret the images. Personnel with this experti…
Measurement and Potential Field-Based Patient Modeling for Model-Mediated Tele-ultrasound
Ryan S. Yeung, David G. Black, Septimiu E. Salcudean
Teleoperated ultrasound can improve diagnostic medical imaging access for remote communities. Having accurate force feedback is important for enabling sonographers to apply the app…
AutoCam: Hierarchical Path Planning for an Autonomous Auxiliary Camera in Surgical Robotics
Alexandre Banks, Randy Moore, Sayem Nazmuz Zaman +2
Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing pat…
Linearity, Time Invariance, and Passivity of a Novice Person in Human Teleoperation
David Black, Septimiu Salcudean
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for gui…
ToolTipNet: A Segmentation-Driven Deep Learning Baseline for Surgical Instrument Tip Detection
Zijian Wu, Shuojue Yang, Yueming Jin +1
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A…
Setup-Invariant Augmented Reality for Teaching by Demonstration with Surgical Robots
Alexandre Banks, Richard Cook, Septimiu E. Salcudean
Augmented reality (AR) is an effective tool in robotic surgery education as it combines exploratory learning with three-dimensional guidance. However, existing AR systems require e…
Point Tracking in Surgery--The 2024 Surgical Tattoos in Infrared (STIR) Challenge
Adam Schmidt, Mert Asim Karaoglu, Soham Sinha +37
Understanding tissue motion in surgery is crucial to enable applications in downstream tasks such as segmentation, 3D reconstruction, virtual tissue landmarking, autonomous probe-b…
Instrument-Splatting: Controllable Photorealistic Reconstruction of Surgical Instruments Using Gaussian Splatting
Shuojue Yang, Zijian Wu, Mingxuan Hong +4
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology,…
SemICP: Semantic Non-Rigid Point Cloud Registration with Elastic Energy Regularization
Wanwen Chen, Qi Zeng, Carson Studders +6
Purpose: Accurate point cloud registration is essential in computer-aided interventions (CAI) to align multi-modal medical images for intraoperative guidance. Classical methods, su…
SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking
Zijian Wu, Adam Schmidt, Randy Moore +4
Accurate and efficient surgical robotic tool pose estimation is of fundamental significance to downstream applications such as augmented reality (AR) in surgical training and learn…
Visual-Haptic Model Mediated Teleoperation for Remote Ultrasound
David Black, Maria Tirindelli, Septimiu Salcudean +2
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause…
Image Retrieval with Intra-Sweep Representation Learning for Neck Ultrasound Scanning Guidance
Wanwen Chen, Adam Schmidt, Eitan Prisman +1
Purpose: Intraoperative ultrasound (US) can enhance real-time visualization in transoral robotic surgery. The surgeon creates a mental map with a pre-operative scan. Then, a surgic…
A-MFST: Adaptive Multi-Flow Sparse Tracker for Real-Time Tissue Tracking Under Occlusion
Yuxin Chen, Zijian Wu, Adam Schmidt +1
Purpose: Tissue tracking is critical for downstream tasks in robot-assisted surgery. The Sparse Efficient Neural Depth and Deformation (SENDD) model has previously demonstrated acc…
Stability and Transparency in Mixed Reality Bilateral Human Teleoperation
David Gregory Black, Septimiu Salcudean
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person w…
Mixed Reality Tele-Ultrasound over 750 km: A Feasibility Study
Ryan Yeung, David Black, Patrick B. Chen +5
To address the lack of access to ultrasound in remote communities, previous work introduced human teleoperation, a mixed reality and haptics-based tele-ultrasound system. In this a…
SegSTRONG-C: Segmenting Surgical Tools Robustly On Non-adversarial Generated Corruptions -- An EndoVis'24 Challenge
Hao Ding, Yuqian Zhang, Tuxun Lu +39
Surgical data science has seen rapid advancement with the excellent performance of end-to-end deep neural networks (DNNs). Despite their successes, DNNs have been proven susceptibl…
Augmenting Efficient Real-time Surgical Instrument Segmentation in Video with Point Tracking and Segment Anything
Zijian Wu, Adam Schmidt, Peter Kazanzides +1
The Segment Anything Model (SAM) is a powerful vision foundation model that is revolutionizing the traditional paradigm of segmentation. Despite this, a reliance on prompting each…
PIPsUS: Self-Supervised Point Tracking in Ultrasound
Wanwen Chen, Adam Schmidt, Eitan Prisman +1
Finding point-level correspondences is a fundamental problem in ultrasound (US), since it can enable US landmark tracking for intraoperative image guidance in different surgeries,…
Tracking and Mapping in Medical Computer Vision: A Review
Adam Schmidt, Omid Mohareri, Simon DiMaio +2
As computer vision algorithms increase in capability, their applications in clinical systems will become more pervasive. These applications include: diagnostics, such as colonoscop…
The Quiet Eye Phenomenon in Minimally Invasive Surgery
Alaa Eldin Abdelaal, Rachelle Van Rumpt, Sayem Nazmuz Zaman +6
In this paper, we report our discovery of a gaze behavior called Quiet Eye (QE) in minimally invasive surgery. The QE behavior has been extensively studied in sports training and h…
Surgical Tattoos in Infrared: A Dataset for Quantifying Tissue Tracking and Mapping
Adam Schmidt, Omid Mohareri, Simon DiMaio +1
Quantifying performance of methods for tracking and mapping tissue in endoscopic environments is essential for enabling image guidance and automation of medical interventions and s…
3D Ultrafast Shear Wave Absolute Vibro-Elastography using a Matrix Array Transducer
Hoda S. Hashemi, Shahed K. Mohammed, Qi Zeng +3
3D ultrasound imaging provides more spatial information compared to conventional 2D frames by considering the volumes of data. One of the main bottlenecks of 3D imaging is the long…
Automatic Search for Photoacoustic Marker Using Automated Transrectal Ultrasound
Zijian Wu, Hamid Moradi, Shuojue Yang +3
Real-time transrectal ultrasound (TRUS) image guidance during robot-assisted laparoscopic radical prostatectomy has the potential to enhance surgery outcomes. Whether conventional…
Arc-to-line frame registration method for ultrasound and photoacoustic image-guided intraoperative robot-assisted laparoscopic prostatectomy
Hyunwoo Song, Shuojue Yang, Zijian Wu +5
Purpose: To achieve effective robot-assisted laparoscopic prostatectomy, the integration of transrectal ultrasound (TRUS) imaging system which is the most widely used imaging model…