4 citations · 11 across the 16 of their papers we have counts for
17 papers
OCTN: Neural OCT Representations for Robot-Guided Precision Intervention
Ravi Prakash, Ryan P. McNabb, Patrick J. Codd +1
Optical coherence tomography (OCT) offers compact, contactless, micron-scale imaging suitable for intraoperative guidance, but native OCT volumes are discretely sampled, anisotropi…
PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation
Devi Yuliarti, Ravi Prakash, Hiu Ching Cheung +3
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Th…
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Guangshen Ma, Ravi Prakash, Beatrice Schleupner +10
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surro…
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Ravi Prakash, Vincent Y. Wang, Arpit Mishra +5
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedb…
A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Pejman Kheradmand, Behnam Moradkhani, Raghavasimhan Sankaranarayanan +5
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They o…
Where is the Boundary: Multimodal Sensor Fusion Test Bench for Tissue Boundary Delineation
Zacharias Chen, Alexa Cristelle Cahilig, Sarah Dias +3
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes.…
SurgXBench: Explainable Vision-Language Model Benchmark for Surgery
Jiajun Cheng, Xianwu Zhao, Sainan Liu +5
Innovations in digital intelligence are transforming robotic surgery with more informed decision-making. Real-time awareness of surgical instrument presence and actions (e.g., cutt…
Tendon-Actuated Concentric Tube Endonasal Robot (TACTER)
Kent K. Yamamoto, Tanner J. Zachem, Pejman Kheradmand +6
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the s…
Sampling-Based Model Predictive Control for Volumetric Ablation in Robotic Laser Surgery
Vincent Y. Wang, Ravi Prakash, Siobhan R. Oca +3
Laser-based surgical ablation relies heavily on surgeon involvement, restricting precision to the limits of human error. The interaction between laser and tissue is governed by var…
Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning
Kent K. Yamamoto, Tanner J. Zachem, Behnam Moradkhani +2
There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification…
An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics
Behnam Moradkhani, Pejman Kheradmand, Harshith Jella +4
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we…
Surface-Enhanced Raman Spectroscopy and Transfer Learning Toward Accurate Reconstruction of the Surgical Zone
Ashutosh Raman, Ren A. Odion, Kent K. Yamamoto +3
Raman spectroscopy, a photonic modality based on the inelastic backscattering of coherent light, is a valuable asset to the intraoperative sensing space, offering non-ionizing pote…
Computer Vision for Increased Operative Efficiency via Identification of Instruments in the Neurosurgical Operating Room: A Proof-of-Concept Study
Tanner J. Zachem, Sully F. Chen, Vishal Venkatraman +8
Objectives Computer vision (CV) is a field of artificial intelligence that enables machines to interpret and understand images and videos. CV has the potential to be of assistance…
Incident Angle Study for Designing an Endoscopic Tool for Intraoperative Brain Tumor Detection
Kent Y. Yamamoto, Tanner J. Zachem, Weston A. Ross +1
In neurosurgical procedures maximizing the resection of tumor tissue while avoiding healthy tissue is of paramount importance and a difficult task due to many factors, such as surr…
3D Laser-and-tissue Agnostic Data-driven Method for Robotic Laser Surgical Planning
Guangshen Ma, Ravi Prakash, Brian Mann +2
In robotic laser surgery, shape prediction of an one-shot ablation cavity is an important problem for minimizing errant overcutting of healthy tissue during the course of pathologi…
Robotic Laser Orientation Planning with a 3D Data-driven Method
Guangshen Ma, Weston Ross, Patrick J. Codd
This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection…
Do Public Datasets Assure Unbiased Comparisons for Registration Evaluation?
Jie Luo, Guangshen Ma, Sarah Frisken +8
With the increasing availability of new image registration approaches, an unbiased evaluation is becoming more needed so that clinicians can choose the most suitable approaches for…