A5068041103- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Surgical Simulation and Training
- Retinal and Macular Surgery
- Augmented Reality Applications
- Robot Manipulation and Learning
- Spinal Fractures and Fixation Techniques
- Anatomy and Medical Technology
- Medical Imaging and Analysis
- Robotics and Sensor-Based Localization
- Assisted Reproductive Technology and Twin Pregnancy
- Optical Coherence Tomography Applications
- Tactile and Sensory Interactions
- Virtual Reality Applications and Impacts
- Retinal Imaging and Analysis
- Intraocular Surgery and Lenses
- Prenatal Screening and Diagnostics
- Vascular Malformations Diagnosis and Treatment
- Spine and Intervertebral Disc Pathology
- Spinal Dysraphism and Malformations
- Fetal and Pediatric Neurological Disorders
- Geophysics and Sensor Technology
- Medical Image Segmentation Techniques
- EEG and Brain-Computer Interfaces
- Gaze Tracking and Assistive Technology
KU Leuven
2016-2025
Flanders Make (Belgium)
2023-2024
Scuola Superiore Sant'Anna
2023
Delft University of Technology
2023
Catholic University of America
2019
Imperial College London
2014
ITS (United Kingdom)
2014
Kyoto University
2005-2008
Abstract Soft magnetic structures having a non‐uniform magnetization profile can achieve multimodal locomotion that is helpful to operate in confined spaces. However, incorporating such anisotropy into their body not straightforward. Existing methods are either limited the anisotropic profiles they or too cumbersome and time‐consuming produce. Herein, 3D printing method allowing incorporate directly printed soft structure demonstrated. This offers at same time simple time‐efficient robot...
Real-time tool segmentation from endoscopic videos is an essential part of many computer-assisted robotic surgical systems and critical importance in data science. We propose two novel deep learning architectures for automatic non-rigid instruments. Both methods take advantage automated deep-learning-based multi-scale feature extraction while trying to maintain accurate quality at all resolutions. The proposed encode the constraint inside network architecture. first architecture enforces it...
Fiber optic shape sensing is gaining popularity within areas such as medical catheterization where catheters and guidewires are used to navigate through tortuous vascular paths.Shape can aid interventionalists by reducing damaging radiation providing a more detailed real-time understanding of the 3-dimensional catheter/guidewire.However, despite technology existing for several years, there still room improvement steps follow reach accuracy robustness needed these safety-critical...
Retinal Vein Occlusion (RVO) is a common retinal vascular disorder which may cause severe loss of vision. cannulation appears to be the most effective treatment, but given small diameter vein, it too difficult and risky for surgeon perform this procedure manually. This work reports on development an innovative robotic manipulator assist vitreoretinal surgeons during using co-manipulation control strategy. The features new Remote-Center-of-Motion mechanism with four degrees freedom....
Catheters are increasingly being used to tackle problems in the cardiovascular system. However, positioning precision of catheter tip is negatively affected by hysteresis. To ensure tissue damage due imprecise avoided, hysteresis be understood and compensated for. This work investigates feasibility model with a Long Short-Term Memory (LSTM) network. A bench-top setup containing distal segment was developed for evaluation. The LSTM first tested using four groups test datasets diverse...
Twin-twin transfusion syndrome requires interventional treatment using a fetoscopically introduced laser to sever the shared blood supply between fetuses. This is delicate procedure relying on small instrumentation with limited articulation guide tip and narrow field of view visualize all relevant vascular connections. In this letter, we report mechatronic design for comanipulated instrument that combines concentric tube actuation larger manipulator constrained by remote centre motion. A...
Abstract Purpose To evaluate the feasibility of robot‐assisted retinal vein cannulation for occlusion. Methods Prospective experimental study performed in vivo porcine eyes. A standard three port pars plana vitrectomy was followed by laser‐induced branch Consequently, a with help surgical robot and microneedle performed. Complete success defined as stable intravenous position needle tip confirmed blood washout at least 3 min. Secondary outcomes were occurrence intra‐operative complications...
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to a second act as camera assistant. In addition burden excessively involving staff, this may lead reduced image stability, increased task completion time and sometimes errors due monotony task. Robotic endoscope holders, controlled by set basic instructions, have been proposed an alternative, but their unnatural increase cognitive load (solo) surgeon, which hinders clinical acceptance....
In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address challenge, paper presents a novel compliant motion control algorithm that relies solely position sensing of catheter tip knowledge catheter's behavior. The proposed features data-driven controller. controller is trained based...
Computer vision and robotics are being increasingly applied in medical interventions. Especially interventions where extreme precision is required, they could make a difference. One such application robot-assisted retinal microsurgery. In recent works, conducted under stereo-microscope, with robot-controlled surgical tool. The complementarity of computer has, however, not yet been fully exploited. order to improve the robot control, we interested three-dimensional (3-D) reconstruction...
Retinal surgery is one of the most challenging types because scale and fragility human eye anatomy. The surgeon suffers from limited positioning accuracy, tremor poor force feedback directly affecting quality surgical procedures. To tackle these issues, we developed a teleoperation system to assist surgeons during retinal surgery. offers features like motion scaling, compensation scaled feedback. This paper reports on design slave master.
Endovascular catheterization is an intervention which offers a low risk alternative to open surgery in many patients. Today's interventions rely heavily on fluoroscopic imaging guide interventionalists. Fluoroscopy only produces 2D visualization of the catheter and also exposes both patient interventionalists harmful radiation. Different approaches have been proposed overcome limitations fluoroscopy. Fiber Bragg Grating (FBG)-based shape sensing becoming popular reconstruct shape. Multi-core...
In endoscopic maxillary sinus surgery, the is accessed through nasal cavity which constitutes a narrow and tortuous pathway. However, surgeons still use rigid endoscopes rigid, straight or pre-bent instruments for this procedure. Resection of uncinate process creation medial antrostomy warranted to access pathology inside depending on location (lateral, inferior anterior wall), additional resection healthy tissue and/or functional structures like lacrimal duct turbinate necessary gain...
In this article, a deep learning method for the shape sensing of continuum robots based on multicore fiber bragg grating (FBG) is introduced. The proposed method, an artificial neural network (ANN), differs from traditional approaches, where accurate reconstruction requires tedious characterization many characteristic parameters. A further limitation approaches that they require either multiple fibers, whose location relative to centerline must be precisely known (calibrated), or single...
Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic and Electromagnetic Tracking (EMT), 3D catheter can now be tracked real-time without need for Traditional optical EMT-based tracking methods have drawback highest error at tip. The information offered by EMT sensors used mainly localize estimated a fixed...
Endovascular intervention is a minimally invasive method for treating cardiovascular diseases. Although fluoroscopy, known real-time catheter visualization, commonly used, it exposes patients and physicians to ionizing radiation lacks depth perception due its 2D nature. To address these limitations, study was conducted using teleoperation 3D visualization techniques. This in-vitro involved the use of robotic system aimed evaluate user performance through both subjective objective measures....