7 papers
PERSEUS: Perception with Semantic Endoscopic Understanding and SLAM
Ayberk Acar, Fangjie Li, Susheela Sharma Stern +9
Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to v…
AURA-CVC: Autonomous Ultrasound-guided Robotic Assistance for Central Venous Catheterization
Deepak Raina, Lidia Al-Zogbi, Brian Teixeira +6
Purpose: Central venous catheterization (CVC) is a critical medical procedure for vascular access, hemodynamic monitoring, and life-saving interventions. Its success remains challe…
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…
Sensorless Remote Center of Motion Misalignment Estimation
Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz +2
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either h…
Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms
Lidia Al-Zogbi, Deepak Raina, Vinciya Pandian +2
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critica…
From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction
Ayberk Acar, Mariana Smith, Lidia Al-Zogbi +14
Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however t…