Soft Tissue Deformation

Soft tissue monitoring of the surgical field: detection and tracking of breast surface deformations

Soft tissue monitoring of the surgical field: detection and tracking of breast surface deformations
Soft tissue monitoring of the surgical field: detection and tracking of breast surface deformations 650 366 IEEE Transactions on Biomedical Engineering (TBME)
Handwritten skin fiducials are precisely and reliably tracked through tool interference, large motions, and fiducial distortions. These work-flow friendly surface measurements provide continuous, near-real-time intraoperative data for image guidance. read more

Inverse Reinforcement Learning Intra-operative Path Planning for Steerable Needle
Author(s)3: Elena De Momi
Inverse Reinforcement Learning Intra-operative Path Planning for Steerable Needle IEEE Transactions on Biomedical Engineering (TBME)
This work presents a safe and effective keyhole neurosurgery intra-operative planning framework for flexible neurosurgical robots. The framework is intended to support neurosurgeons during the intraoperative procedure to react to a dynamic environment. The proposed system integrates inverse reinforcement learning path planning algorithm, based on expert demonstrations, with a realistic, time-bounded simulator based on Position-based Dynamics simulation that mocks brain deformations due to catheter insertion and a simulated robotic system. Simulation results performed on a human brain dataset show that that the presented intra-operative steerable needle path planner is able to avoid anatomical obstacles while optimising surgical criteria. read more
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