A5044949632- Surgical Simulation and Training
- Optical Coherence Tomography Applications
- Soft Robotics and Applications
- Augmented Reality Applications
- Retinal Imaging and Analysis
- Anatomy and Medical Technology
- Hearing Loss and Rehabilitation
- Voice and Speech Disorders
- Ear Surgery and Otitis Media
- Advanced Vision and Imaging
- Photoacoustic and Ultrasonic Imaging
- Laser Applications in Dentistry and Medicine
- Spinal Fractures and Fixation Techniques
- Robotics and Sensor-Based Localization
- Tracheal and airway disorders
- Craniofacial Disorders and Treatments
- Intraocular Surgery and Lenses
- Retinal and Macular Surgery
- AI in cancer detection
- Airway Management and Intubation Techniques
- Optical measurement and interference techniques
- Obstructive Sleep Apnea Research
- Meningioma and schwannoma management
- Nasal Surgery and Airway Studies
- Teleoperation and Haptic Systems
University of Toronto
2019-2024
Hospital for Sick Children
2019-2022
SickKids Foundation
2019-2022
Leibniz University Hannover
2013-2020
Institut für Mikroelektronik- und Mechatronik-Systeme
2014-2018
Vanderbilt University Medical Center
2011-2013
Vanderbilt University
2012
Karlsruhe Institute of Technology
2004-2010
Düsseldorf University Hospital
2009
Heinrich Heine University Düsseldorf
2009
We introduce MuJoCo Playground, a fully open-source framework for robot learning built with MJX, the express goal of streamlining simulation, training, and sim-to-real transfer onto robots. With simple "pip install playground", researchers can train policies in minutes on single GPU. Playground supports diverse robotic platforms, including quadrupeds, humanoids, dexterous hands, arms, enabling zero-shot from both state pixel inputs. This is achieved through an integrated stack comprising...
Abstract Despite great efforts, transoral robotic laser surgery has not been established clinically. Patient benefits are yet to be proven accept shortcomings of systems. In particular, laryngeal reachability and transition from microscope accurate endoscopic ablation have achieved. We addressed those challenges with a highly integrated endoscope for non-contact endolaryngeal surgery. The current performance status assessed in multi-level user studies. addition, the system was deployed an ex...
The consideration of predictive uncertainty in medical imaging with deep learning is utmost importance. We apply estimation both aleatoric and epistemic by variational Bayesian inference Monte Carlo dropout to regression tasks show that systematically underestimated. sigma scaling a single scalar value; simple, yet effective calibration method for types uncertainty. performance our approach evaluated on variety common data sets using different state-of-the-art convolutional network...
In the last decade, focused laser radiation has become an alternative instrumentation for soft tissue surgery due to precise ablation with simultaneous coagulation. However, adjustment of focal position respect surface is crucial optimal energy input and minimised trauma. Advantageous delivery without contact poses challenges demands assistance. This contribution introduces three novel concepts user assistance during adaptation in noncontact robotic teleoperation. Visual, haptic,...
Recent research has revealed that image-based methods can enhance accuracy and safety in laser microsurgery. In this study, non-rigid tracking using surgical stereo imaging its application to ablation is discussed. A recently developed motion estimation framework based on piecewise affine deformation modeling extended by a mesh refinement step considering texture information. This compensates for inaccuracies potentially caused inconsistent feature matches or drift. To facilitate online of...
Objective Minimally invasive image‐guided cochlear implantation (CI) utilizes a patient‐customized microstereotactic frame to access the cochlea via single drill‐pass. We investigate average force and trauma associated with insertion of lateral wall CI electrodes using this technique. Study Design Assessment cadaveric temporal bones. Setting Laboratory setup. Subjects Methods Microstereotactic frames for 6 fresh bones were built CT scans determine an optimal drill path following which...
Cleft palate is a congenital defect that affects approximately 1 in 800 births worldwide. A robotic approach for cleft repair desired due to the potential ergonomic, vision and accessibility improvements small workspace of oral cavity. This paper presents 3 mm, 4-degree-of-freedom instrument use with widely available da Vinci system. The pin-jointed wrist design features cable guide channels place pulleys, significantly reducing size wrist. Additionally, novel cam mechanism minimizes any...
Intracochlear visualization is achievable with chip-on-tip endoscopes-also called (digital) video endoscopy, videoscopy, electronic or endoscopy distal chip/sensor/camera technology.Recent advances in digital camera sensor sizes have significantly reduced the size of endoscopes to near that scala tympani opening up possibility intracochlear visualization.We compared image quality cameras commercially available rigid (a.k.a. Hopkins rods) and fiber-optic scopes (sialendoscopes). Furthermore,...
Abstract In this work, we discuss epistemic uncertainty estimation obtained by Bayesian inference in diagnostic classifiers and show that the prediction highly correlates with goodness of prediction. We train ResNet-18 image classifier on a dataset 84,484 optical coherence tomography scans showing four different retinal conditions. Dropout is added before every building block ResNet, creating an approximation to classifier. Monte Carlo sampling applied dropout at test time for estimation....
Purpose: We explain our concept for customization of a guidance instrument, present prototype, and describe set experiments to evaluate its positioning drilling accuracy. Methods: Our is characterized by the use bone cement, which enables fixation specific configuration each individual surgical template. This well-established medical product was selected ensure future intraoperative fabrication template under sterile conditions. For customization, manually operated alignment device proposed...
Within the framework of collaborative research centre "Information Technology in Medicine--Computer and Sensor-Aided Surgery" (SFB414) new methods for intraoperative computer assistance surgical procedures are being developed. The developed tools will be controlled by an host which provides interfaces to electronic health record (EHR) assisted instruments.The interaction is based on standardised communication protocols. Plug & work functions allow easy integration configuration components....
The aim of this study is a defined, visually based and camera controlled bone removal by navigated CO<sub>2</sub> laser on the promontory inner ear. A precise minimally traumatic opening procedure cochlea for implantation cochlear implant electrode (so-called cochleostomy) intended. Harming membrane linings ear can result in damage remaining organ functions (e.g. complete deafness or vertigo). tissue laser-based ablation system investigated. Inside borehole pulsed beam guided automatically...