5 papers
Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery
Yunke Ao, Manish Prajapat, Yarden As +6
Safety-critical control using high-dimensional sensory feedback from optical data (e.g., images, point clouds) poses significant challenges in domains like autonomous driving and r…
SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound
Yunke Ao, Masoud Moghani, Mayank Mittal +6
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its…
A Modular Edge Device Network for Surgery Digitalization
Vincent Schorp, Frédéric Giraud, Gianluca Pargätzi +10
Future surgical care demands real-time, integrated data to drive informed decision-making and improve patient outcomes. The pressing need for seamless and efficient data capture in…
Acquiring Submillimeter-Accurate Multi-Task Vision Datasets for Computer-Assisted Orthopedic Surgery
Emma Most, Jonas Hein, Frédéric Giraud +7
Advances in computer vision, particularly in optical image-based 3D reconstruction and feature matching, enable applications like marker-less surgical navigation and digitization o…
SurgPointTransformer: Vertebrae Shape Completion with RGB-D Data
Aidana Massalimova, Florentin Liebmann, Sascha Jecklin +3
State-of-the-art computer- and robot-assisted surgery systems heavily depend on intraoperative imaging technologies such as CT and fluoroscopy to generate detailed 3D visualization…