58 citations · 212 across the 44 of their papers we have counts for
14 papers · 1 filter
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…
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…
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…
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…
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…
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…
Towards Transcervical Ultrasound Image Guidance for Transoral Robotic Surgery
Wanwen Chen, Megha Kalia, Qi Zeng +6
Purpose: Trans-oral robotic surgery (TORS) using the da Vinci surgical robot is a new minimally-invasive surgery method to treat oropharyngeal tumors, but it is a challenging opera…
Force Sensing in Robot-assisted Keyhole Endoscopy: A Systematic Survey
A. H. Hadi Hosseinabadi, S. E. Salcudean
Instrument-tissue interaction forces in Minimally Invasive Surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop…
Multi-Axis Force Sensing in Robotic Minimally Invasive Surgery With No Instrument Modification
A. H. Hadi-Hosseinabadi, S. E. Salcudean
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to differ…
Orientation Matters: 6-DoF Autonomous Camera Movement for Minimally Invasive Surgery
Alaa Eldin Abdelaal, Nancy Hong, Apeksha Avinash +4
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the pos…