33 citations · 148 across the 24 of their papers we have counts for
26 papers
SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
Laura Connolly, Aravind S. Kumar, Kapi Ketan Mehta +9
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (R…
Improving the realism of robotic surgery simulation through injection of learning-based estimated errors
Juan Antonio Barragan, Hisashi Ishida, Adnan Munawar +1
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus…
Realistic Data Generation for 6D Pose Estimation of Surgical Instruments
Juan Antonio Barragan, Jintan Zhang, Haoying Zhou +2
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms…
SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking
Jin Wu, Haoying Zhou, Peter Kazanzides +2
Despite advancements in robotic-assisted surgery, automating complex tasks like suturing remain challenging due to the need for adaptability and precision. Learning-based approache…
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…
Suturing Tasks Automation Based on Skills Learned From Demonstrations: A Simulation Study
Haoying Zhou, Yiwei Jiang, Shang Gao +3
In this work, we develop an open-source surgical simulation environment that includes a realistic model obtained by MRI-scanning a physical phantom, for the purpose of training and…
Beyond the Manual Touch: Situational-aware Force Control for Increased Safety in Robot-assisted Skullbase Surgery
Hisashi Ishida, Deepa Galaiya, Nimesh Nagururu +4
Purpose - Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitatio…
Integrating 3D Slicer with a Dynamic Simulator for Situational Aware Robotic Interventions
Manish Sahu, Hisashi Ishida, Laura Connolly +6
Image-guided robotic interventions represent a transformative frontier in surgery, blending advanced imaging and robotics for improved precision and outcomes. This paper addresses…
Haptic-Assisted Collaborative Robot Framework for Improved Situational Awareness in Skull Base Surgery
Hisashi Ishida, Manish Sahu, Adnan Munawar +5
Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While imag…
Evaluation of a motion measurement system for PET imaging studies
Junxiang Wang, Ti Wu, Iulian I. Iordachita +1
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human acti…
Calibration and evaluation of a motion measurement system for PET imaging studies
Junxiang Wang, Ti Wu, Iulian I. Iordachita +1
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human acti…
Brain-Driven Representation Learning Based on Diffusion Model
Soowon Kim, Seo-Hyun Lee, Young-Eun Lee +3
Interpreting EEG signals linked to spoken language presents a complex challenge, given the data's intricate temporal and spatial attributes, as well as the various noise factors. D…
Improving Surgical Situational Awareness with Signed Distance Field: A Pilot Study in Virtual Reality
Hisashi Ishida, Juan Antonio Barragan, Adnan Munawar +6
The introduction of image-guided surgical navigation (IGSN) has greatly benefited technically demanding surgical procedures by providing real-time support and guidance to the surge…
Fully Immersive Virtual Reality for Skull-base Surgery: Surgical Training and Beyond
Adnan Munawar, Zhaoshuo Li, Nimesh Nagururu +4
Purpose: A virtual reality (VR) system, where surgeons can practice procedures on virtual anatomies, is a scalable and cost-effective alternative to cadaveric training. The fully d…
Insonification Angle-based Ultrasound Volume Reconstruction for Spine Intervention
Baichuan Jiang, Keshuai Xu, Abhay Moghekar +2
Ultrasound-guided spine interventions, such as lumbar-puncture procedures, often suffer from the reduced visibility of key anatomical features such as the inter-spinous process spa…
Feature-aggregated spatiotemporal spine surface estimation for wearable patch ultrasound volumetric imaging
Baichuan Jiang, Keshuai Xu, Ahbay Moghekar +2
Clear identification of bone structures is crucial for ultrasound-guided lumbar interventions, but it can be challenging due to the complex shapes of the self-shadowing vertebra an…
Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study
Hongbin Lin, Qian Gao, Xiangyu Chu +4
Learning high-performance deep neural networks for dynamic modeling of high Degree-Of-Freedom (DOF) robots remains challenging due to the sampling complexity. Typical unknown syste…
CaRTS: Causality-driven Robot Tool Segmentation from Vision and Kinematics Data
Hao Ding, Jintan Zhang, Peter Kazanzides +2
Vision-based segmentation of the robotic tool during robot-assisted surgery enables downstream applications, such as augmented reality feedback, while allowing for inaccuracies in…
Virtual Reality for Synergistic Surgical Training and Data Generation
Adnan Munawar, Zhaoshuo Li, Punit Kunjam +7
Surgical simulators not only allow planning and training of complex procedures, but also offer the ability to generate structured data for algorithm development, which may be appli…
Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion
Guanhao Fu, Ehsan Azimi, Peter Kazanzides
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with…
Estimation of Trocar and Tool Interaction Forces on the da Vinci Research Kit with Two-Step Deep Learning
Jie Ying Wu, Nural Yilmaz, Peter Kazanzides +1
Measurement of environment interaction forces during robotic minimally-invasive surgery would enable haptic feedback to the surgeon, thereby solving one long-standing limitation. E…
Telerobotic Operation of Intensive Care Unit Ventilators
Balazs P. Vagvolgyi, Mikhail Khrenov, Jonathan Cope +5
Since the first reports of a novel coronavirus (SARS-CoV-2) in December 2019, over 33 million people have been infected worldwide and approximately 1 million people worldwide have…
Leveraging Vision and Kinematics Data to Improve Realism of Biomechanic Soft-tissue Simulation for Robotic Surgery
Jie Ying Wu, Peter Kazanzides, Mathias Unberath
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, F…
A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces
Hongbin Lin, C. W. Vincent Hui, Yan Wang +3
External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing…