Ultrasound Assisted Guidance with Force Cues for Intravascular Interventions

Project Goals Image guidance during minimally invasive cardiovascular interventions is primarily achieved based on X-ray fluoroscopy, which has several limitations including limited 3D imaging, significant doses of radiation to operators, and lack of contact force measurement between the cardiovascular anatomy and interventional tools. Ultrasound imaging may complement or possibly replace 2D fluoroscopy for intravascular interventions due to its portability, safety, … Continue reading

Tracking Magnetic Particles under Ultrasound Imaging using Contrast-Enhancing Microbubbles

Abstract Magnetic microbubbles which can be controlled by an external magnetic field have been explored as a method for precise and efficient drug delivery. In this paper, a technique for the fabrication of microbubble encapsulated magnetic spheres is presented. The resultant magnetic spheres were subsequently imaged using ultrasound and the encapsulated microbubbles proved to appear as bright spots and resulted in enhanced ultrasound … Continue reading

Surgical Tracking Based on Stereo Vision and Depth Sensing

Project Goals: The objective of this research is to incorporate multiple sensors at broad spectrum, including stereo infrared (IR) cameras, color (or RGB) cameras and depth sensors to perceive the surgical environment. Features extracted from each modality can contribute to the cognition of complex surgical environment or procedures. Additionally, their combination can provide higher robustness and accuracy beyond what is … Continue reading

FYP: Surgical Tracking With Multiple Microsoft Kinects

FYP Project Goals The aim of this project is to perform tracking of surgical instruments utilizing the Kinect sensors. With the advances in computing and imaging technologies in the recent years, visual limitations during surgery such as those due to poor depth perception and limited field of view, can be overcome by using computer-assisted systems. 3D models of the patient’s … Continue reading

3D Ultrasound Tracking and Servoing of Tubular Surgical Robots

Collaborators: [Pediatric Cardiac Bioengineering Lab of Children’s Hospital Boston, Harvard Medical School, USA] [Philips Research] Abstract Ultrasound imaging is a useful modality for guiding minimally invasive interventions due to its portability and safety. In cardiac surgery, for example, real-time 3D ultrasound imaging is being investigated for guiding repairs of complex defects inside the beating heart. Substantial difficulty can arise, however, … Continue reading

Surgical Tracking System for Laparoscopic Surgery

Collaborators: ERC-CISST, LCSR Lab of Johns Hopkins University, USA Fraunhofer Germany (FhG) Laparoscopic surgery poses a challenging problem for a real-time intra-body navigation system: how to keep tracking the surgical instruments inside the human body intra-operatively. This project aims to develop surgical tracking technology that is accurate, robust against environmental disturbances, and does not require line-of-sight. The current approach is … Continue reading

Automated tracking of pallets in warehouses based on asymmetric ultrasound observation models

We consider the use of wireless sensor networks to automatically track “perceptive pallets” of materials in ware-houses for the purpose of monitoring volumetric and spatial constraints. A combination of radio frequency and ultrasound chirping produces position estimates that are noisy and prone to error. To address this, we measure and characterize the ultrasound response from standard “Cricket” wireless sensor motes … Continue reading