49 citations · 192 across the 44 of their papers we have counts for
47 papers
MagServo: Uncertainty-Resilient Hierarchical Magnetic Servoing via Learned Latent Representations
Yuhan Tan, Yameng Zhang, Pei Liu +2
Magnetic navigation provides contact-free and line-of-sight-independent feedback for robotic systems, yet existing approaches typically rely on explicit pose estimation or direct u…
Recon2Servo: Robotic Ultrasound Visual Servoing via Learned Image-to-Motion Inference
Yameng Zhang, Pei Liu, Dianye Huang +5
Ultrasound visual servoing is essential for autonomous robotic ultrasound, yet 6-DoF probe control from 2D B-mode images remains challenging due to limited and ambiguous out-of-pla…
Seeing Globally, Refining Locally: Global Visual Guidance and Local Ultrasound Cues for Robust Freehand 3-D Ultrasound Reconstruction
Yameng Zhang, Zhongyu Chen, Dianye Huang +3
Freehand 3-D ultrasound (US) imaging has attracted increasing attention owing to its intuitive volumetric visualization, ease of use, and low cost. However, accurate 3-D reconstruc…
Point-Wise Geometry-Aware Transformer for Partial-to-Full Point Cloud Registration in Computer-Assisted Surgery
Siyu Zhou, Zhongliang Jiang
Partial-to-full registration remains challenging due to varying overlap ratios, fluctuating point densities, and the presence of noise. While transformers have shown strong potenti…
Dyadic Partnership(DP): A Missing Link Towards Full Autonomy in Medical Robotics
Nassir Navab, Zhongliang Jiang
For the past decades medical robotic solutions were mostly based on the concept of tele-manipulation. While their design was extremely intelligent, allowing for better access, impr…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
From Scanning Guidelines to Action: A Robotic Ultrasound Agent with LLM-Based Reasoning
Yuan Bi, Yiping Zhou, Pei Liu +3
Robotic ultrasound offers advantages over free-hand scanning, including improved reproducibility and reduced operator dependency. In clinical practice, US acquisition relies heavil…
Robotic Ultrasound Makes CBCT Alive
Feng Li, Ziyuan Li, Zhongliang Jiang +2
Intraoperative Cone Beam Computed Tomography (CBCT) provides a reliable 3D anatomical context essential for interventional planning. However, its static nature fails to provide con…
DAISS: Phase-Aware Imitation Learning for Dual-Arm Robotic Ultrasound-Guided Interventions
Feng Li, Pei Liu, Shiting Wang +4
Imitation learning has shown strong potential for automating complex robotic manipulation. In medical robotics, ultrasound-guided needle insertion demands precise bimanual coordina…
RAG-RUSS: A Retrieval-Augmented Robotic Ultrasound for Autonomous Carotid Examination
Dianye Huang, Ziping Cong, Nassir Navab +1
Robotic ultrasound (US) has recently attracted increasing attention as a means to overcome the limitations of conventional US examinations, such as the strong operator dependence.…
ConVibNet: Needle Detection during Continuous Insertion via Frequency-Inspired Features
Jiamei Guo, Zhehao Duan, Maria Neiiendam +3
Purpose: Ultrasound-guided needle interventions are widely used in clinical practice, but their success critically depends on accurate needle placement, which is frequently hindere…
Ultrasound-Guided Real-Time Spinal Motion Visualization for Spinal Instability Assessment
Feng Li, Yuan Bi, Tianyu Song +2
Purpose: Spinal instability is a widespread condition that causes pain, fatigue, and restricted mobility, profoundly affecting patients' quality of life. In clinical practice, the…
Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policy
Dianye Huang, Nassir Navab, Zhongliang Jiang
Integrating generative models with action chunking has shown significant promise in imitation learning for robotic manipulation. However, the existing diffusion-based paradigm ofte…
Freehand 3D Ultrasound Imaging: Sim-in-the-Loop Probe Pose Optimization via Visual Servoing
Yameng Zhang, Dianye Huang, Max Q. -H. Meng +2
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose…
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
Zhongyu Chen, Chenyang Li, Xuesong Li +5
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like art…
Speckle2Self: Self-Supervised Ultrasound Speckle Reduction Without Clean Data
Xuesong Li, Nassir Navab, Zhongliang Jiang
Image denoising is a fundamental task in computer vision, particularly in medical ultrasound (US) imaging, where speckle noise significantly degrades image quality. Although recent…
Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging
Yifan Zhang, Dianye Huang, Nassir Navab +1
Medical ultrasound (US) imaging is widely used in clinical examinations due to its portability, real-time capability, and radiation-free nature. To address inter- and intra-operato…
Intelligent Virtual Sonographer (IVS): Enhancing Physician-Robot-Patient Communication
Tianyu Song, Feng Li, Yuan Bi +6
The advancement and maturity of large language models (LLMs) and robotics have unlocked vast potential for human-computer interaction, particularly in the field of robotic ultrasou…
FB-Diff: Fourier Basis-guided Diffusion for Temporal Interpolation of 4D Medical Imaging
Xin You, Runze Yang, Chuyan Zhang +3
The temporal interpolation task for 4D medical imaging, plays a crucial role in clinical practice of respiratory motion modeling. Following the simplified linear-motion hypothesis,…
UltraAD: Fine-Grained Ultrasound Anomaly Classification via Few-Shot CLIP Adaptation
Yue Zhou, Yuan Bi, Wenjuan Tong +3
Precise anomaly detection in medical images is critical for clinical decision-making. While recent unsupervised or semi-supervised anomaly detection methods trained on large-scale…
Multimodal Graph Representation Learning for Robust Surgical Workflow Recognition with Adversarial Feature Disentanglement
Long Bai, Boyi Ma, Ruohan Wang +8
Surgical workflow recognition is vital for automating tasks, supporting decision-making, and training novice surgeons, ultimately improving patient safety and standardizing procedu…
Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras
Beilei Cui, Long Bai, Mobarakol Islam +8
Accurate 3D scene reconstruction is essential for numerous medical tasks. Given the challenges in obtaining ground truth data, there has been an increasing focus on self-supervised…
Robotic CBCT Meets Robotic Ultrasound
Feng Li, Yuan Bi, Dianye Huang +2
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guid…
Gaze-Guided Robotic Vascular Ultrasound Leveraging Human Intention Estimation
Yuan Bi, Yang Su, Nassir Navab +1
Medical ultrasound has been widely used to examine vascular structure in modern clinical practice. However, traditional ultrasound examination often faces challenges related to int…