no code implementations • 17 Jan 2023 • Shervin Dehghani, Michael Sommersperger, Peiyao Zhang, Alejandro Martin-Gomez, Benjamin Busam, Peter Gehlbach, Nassir Navab, M. Ali Nasseri, Iulian Iordachita
In this work, we propose a framework for autonomous robotic navigation for subretinal injection, based on intelligent real-time processing of iOCT volumes.
no code implementations • 30 Nov 2021 • Shervin Dehghani, Michael Sommersperger, Junjie Yang, Benjamin Busam, Kai Huang, Peter Gehlbach, Iulian Iordachita, Nassir Navab, M. Ali Nasseri
For this purpose, we present a platform for autonomous trocar docking that combines computer vision and a robotic setup.
no code implementations • 16 Nov 2020 • Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov
We show that the network can reliably navigate a needle surgical tool to various desired locations within 137 microns accuracy in physical experiments and 94 microns in simulation on average, and generalizes well to unseen situations such as in the presence of auxiliary surgical tools, variable eye backgrounds, and brightness conditions.
no code implementations • 12 Aug 2019 • Shahriar Sefati, Shahin Sefati, Iulian Iordachita, Russell H. Taylor, Mehran Armand
Due to their flexibility, dexterity, and compact size, Continuum Manipulators (CMs) can enhance minimally invasive interventions.