13 papers
SemICP: Semantic Non-Rigid Point Cloud Registration with Elastic Energy Regularization
Wanwen Chen, Qi Zeng, Carson Studders +6
Purpose: Accurate point cloud registration is essential in computer-aided interventions (CAI) to align multi-modal medical images for intraoperative guidance. Classical methods, su…
Robotic versus Human Teleoperation for Remote Ultrasound
David Black, Septimiu Salcudean
Diagnostic medical ultrasound is widely used, safe, and relatively low cost but requires a high degree of expertise to acquire and interpret the images. Personnel with this experti…
Measurement and Potential Field-Based Patient Modeling for Model-Mediated Tele-ultrasound
Ryan S. Yeung, David G. Black, Septimiu E. Salcudean
Teleoperated ultrasound can improve diagnostic medical imaging access for remote communities. Having accurate force feedback is important for enabling sonographers to apply the app…
Mixed Reality Tele-Ultrasound over 750 km: A Feasibility Study
Ryan Yeung, David Black, Patrick B. Chen +5
To address the lack of access to ultrasound in remote communities, previous work introduced human teleoperation, a mixed reality and haptics-based tele-ultrasound system. In this a…
AutoCam: Hierarchical Path Planning for an Autonomous Auxiliary Camera in Surgical Robotics
Alexandre Banks, Randy Moore, Sayem Nazmuz Zaman +2
Incorporating an autonomous auxiliary camera into robot-assisted minimally invasive surgery (RAMIS) enhances spatial awareness and eliminates manual viewpoint control. Existing pat…
Linearity, Time Invariance, and Passivity of a Novice Person in Human Teleoperation
David Black, Septimiu Salcudean
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for gui…