45 citations · 116 across the 92 of their papers we have counts for
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Modular Robotic Catheters for Endovascular Aneurysm Repair
Alex Ranne, Jinshi Zhao, Ali Anil Demircali +5
Fenestrated/Branched endovascular aneurysm repair (FEVAR/BEVAR) require surgeons to navigate catheters and guidewires into various branches of the abdominal aorta, before deploying…
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…
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…
Pre-Surgical Planner for Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture, Robot Position and Insertion Point
Satoshi Inagaki, Alireza Alikhani, Nassir Navab +2
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therap…
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…
Towards Motion Compensation in Autonomous Robotic Subretinal Injections
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such a…
Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence t…
Needle Segmentation Using GAN: Restoring Thin Instrument Visibility in Robotic Ultrasound
Zhongliang Jiang, Xuesong Li, Xiangyu Chu +5
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between…
A Patient-Specific Framework for Autonomous Spinal Fixation via a Steerable Drilling Robot
Susheela Sharma, Sarah Go, Zeynep Yakay +6
In this paper, with the goal of enhancing the minimally invasive spinal fixation procedure in osteoporotic patients, we propose a first-of-its-kind image-guided robotic framework f…
Autonomous Path Planning for Intercostal Robotic Ultrasound Imaging Using Reinforcement Learning
Yuan Bi, Cheng Qian, Zhicheng Zhang +2
Ultrasound (US) has been widely used in daily clinical practice for screening internal organs and guiding interventions. However, due to the acoustic shadow cast by the subcutaneou…