1 code implementation • 12 Mar 2024 • Benjamin D. Killeen, Liam J. Wang, Han Zhang, Mehran Armand, Russell H. Taylor, Dave Dreizin, Greg Osgood, Mathias Unberath
Recently, foundation models (FMs) -- machine learning models trained on large amounts of highly variable data thus enabling broad applicability -- have emerged as promising tools for automated image analysis.
no code implementations • 19 Feb 2024 • Jan Emily Mangulabnan, Roger D. Soberanis-Mukul, Timo Teufel, Manish Sahu, Jose L. Porras, S. Swaroop Vedula, Masaru Ishii, Gregory Hager, Russell H. Taylor, Mathias Unberath
Purpose: Preoperative imaging plays a pivotal role in sinus surgery where CTs offer patient-specific insights of complex anatomy, enabling real-time intraoperative navigation to complement endoscopy imaging.
no code implementations • 22 Oct 2023 • Jan Emily Mangulabnan, Roger D. Soberanis-Mukul, Timo Teufel, Isabela Hernández, Jonas Winter, Manish Sahu, Jose L. Porras, S. Swaroop Vedula, Masaru Ishii, Gregory Hager, Russell H. Taylor, Mathias Unberath
In this work, we perform a quantitative analysis of a self-supervised approach for sinus reconstruction using endoscopic sequences paired with optical tracking and high-resolution computed tomography acquired from nine ex-vivo specimens.
1 code implementation • CVPR 2023 • Zhaoshuo Li, Thomas Müller, Alex Evans, Russell H. Taylor, Mathias Unberath, Ming-Yu Liu, Chen-Hsuan Lin
Neural surface reconstruction has been shown to be powerful for recovering dense 3D surfaces via image-based neural rendering.
1 code implementation • 29 Dec 2022 • Zhaoshuo Li, Hongchao Shu, Ruixing Liang, Anna Goodridge, Manish Sahu, Francis X. Creighton, Russell H. Taylor, Mathias Unberath
TAToo jointly tracks the rigid 3D motion of patient skull and surgical drill from stereo microscopic videos.
1 code implementation • 21 Nov 2022 • Hongchao Shu, Ruixing Liang, Zhaoshuo Li, Anna Goodridge, Xiangyu Zhang, Hao Ding, Nimesh Nagururu, Manish Sahu, Francis X. Creighton, Russell H. Taylor, Adnan Munawar, Mathias Unberath
Twin-S tracks and updates the virtual model in real-time given measurements from modern tracking technologies.
1 code implementation • 21 Oct 2022 • Weiyu Guo, Zhaoshuo Li, Yongkui Yang, Zheng Wang, Russell H. Taylor, Mathias Unberath, Alan Yuille, Yingwei Li
We construct our stereo depth estimation model, Context Enhanced Stereo Transformer (CSTR), by plugging CEP into the state-of-the-art stereo depth estimation method Stereo Transformer.
1 code implementation • 13 Jun 2022 • Cong Gao, Benjamin D. Killeen, Yicheng Hu, Robert B. Grupp, Russell H. Taylor, Mehran Armand, Mathias Unberath
Here, we demonstrate that creating realistic simulated images from human models is a viable alternative and complement to large-scale in situ data collection.
1 code implementation • 19 Feb 2022 • Xingtong Liu, Zhaoshuo Li, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath
In endoscopy, many applications (e. g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.
1 code implementation • 2 Jan 2022 • Yonghao Long, Jianfeng Cao, Anton Deguet, Russell H. Taylor, Qi Dou
In this paper, we develop a novel system by seamlessly merging artificial intelligence module and augmented reality visualization to automatically generate the surgical guidance for robotic surgery education.
no code implementations • 17 Nov 2021 • Zhaoshuo Li, Wei Ye, Dilin Wang, Francis X. Creighton, Russell H. Taylor, Ganesh Venkatesh, Mathias Unberath
We present a framework named Consistent Online Dynamic Depth (CODD) to produce temporally consistent depth estimates in dynamic scenes in an online setting.
no code implementations • 13 Sep 2021 • Zhaoshuo Li, Nathan Drenkow, Hao Ding, Andy S. Ding, Alexander Lu, Francis X. Creighton, Russell H. Taylor, Mathias Unberath
It is based on the idea that observed frames can be synthesized from neighboring frames if accurate depth of the scene is known - or in this case, estimated.
2 code implementations • 1 Jul 2021 • Yonghao Long, Zhaoshuo Li, Chi Hang Yee, Chi Fai Ng, Russell H. Taylor, Mathias Unberath, Qi Dou
After that, a dynamic reconstruction algorithm which can estimate the tissue deformation and camera movement, and aggregate the information over time is proposed for surgical scene reconstruction.
1 code implementation • CVPR 2021 • Xingtong Liu, Benjamin D. Killeen, Ayushi Sinha, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath
Extracting geometric features from 3D models is a common first step in applications such as 3D registration, tracking, and scene flow estimation.
no code implementations • 14 Dec 2020 • Antonio Di Lallo, Robin R. Murphy, Axel Krieger, Junxi Zhu, Russell H. Taylor, Hao Su
Medical robots can play an important role in mitigating the spread of infectious diseases and delivering quality care to patients during the COVID-19 pandemic.
Robotics
1 code implementation • ICCV 2021 • Zhaoshuo Li, Xingtong Liu, Nathan Drenkow, Andy Ding, Francis X. Creighton, Russell H. Taylor, Mathias Unberath
Stereo depth estimation relies on optimal correspondence matching between pixels on epipolar lines in the left and right images to infer depth.
no code implementations • 30 Oct 2020 • Lena Maier-Hein, Matthias Eisenmann, Duygu Sarikaya, Keno März, Toby Collins, Anand Malpani, Johannes Fallert, Hubertus Feussner, Stamatia Giannarou, Pietro Mascagni, Hirenkumar Nakawala, Adrian Park, Carla Pugh, Danail Stoyanov, Swaroop S. Vedula, Kevin Cleary, Gabor Fichtinger, Germain Forestier, Bernard Gibaud, Teodor Grantcharov, Makoto Hashizume, Doreen Heckmann-Nötzel, Hannes G. Kenngott, Ron Kikinis, Lars Mündermann, Nassir Navab, Sinan Onogur, Raphael Sznitman, Russell H. Taylor, Minu D. Tizabi, Martin Wagner, Gregory D. Hager, Thomas Neumuth, Nicolas Padoy, Justin Collins, Ines Gockel, Jan Goedeke, Daniel A. Hashimoto, Luc Joyeux, Kyle Lam, Daniel R. Leff, Amin Madani, Hani J. Marcus, Ozanan Meireles, Alexander Seitel, Dogu Teber, Frank Ückert, Beat P. Müller-Stich, Pierre Jannin, Stefanie Speidel
We further complement this technical perspective with (4) a review of currently available SDS products and the translational progress from academia and (5) a roadmap for faster clinical translation and exploitation of the full potential of SDS, based on an international multi-round Delphi process.
1 code implementation • 27 Aug 2020 • David Z. Li, Masaru Ishii, Russell H. Taylor, Gregory D. Hager, Ayushi Sinha
We use three different methods to manipulate these latent representations in order to predict tool presence in each frame.
1 code implementation • 3 Jun 2020 • Zhaoshuo Li, Alex Gordon, Thomas Looi, James Drake, Christopher Forrest, Russell H. Taylor
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations.
Robotics Systems and Control Systems and Control
1 code implementation • 18 Mar 2020 • Xingtong Liu, Maia Stiber, Jindan Huang, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath
Reconstructing accurate 3D surface models of sinus anatomy directly from an endoscopic video is a promising avenue for cross-sectional and longitudinal analysis to better understand the relationship between sinus anatomy and surgical outcomes.
1 code implementation • CVPR 2020 • Xingtong Liu, Yiping Zheng, Benjamin Killeen, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath
In direct comparison to recent local and dense descriptors on an in-house sinus endoscopy dataset, we demonstrate that our proposed dense descriptor can generalize to unseen patients and scopes, thereby largely improving the performance of Structure from Motion (SfM) in terms of model density and completeness.
no code implementations • 6 Sep 2019 • Xingtong Liu, Ayushi Sinha, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath
We present a self-supervised learning-based pipeline for dense 3D reconstruction from full-length monocular endoscopic videos without a priori modeling of anatomy or shading.
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.
2 code implementations • 22 Mar 2019 • Robert B. Grupp, Rachel A. Hegeman, Ryan J. Murphy, Clayton P. Alexander, Yoshito Otake, Benjamin A. McArthur, Mehran Armand, Russell H. Taylor
Results: In simulation, average fragment pose errors were 1. 3{\deg}/1. 7 mm when the planned fragment matched the intraoperative fragment, 2. 2{\deg}/2. 1 mm when the plan was not updated to match the true shape, and 1. 9{\deg}/2. 0 mm when the fragment shape was intraoperatively estimated.
1 code implementation • 20 Feb 2019 • Xingtong Liu, Ayushi Sinha, Masaru Ishii, Gregory D. Hager, Austin Reiter, Russell H. Taylor, Mathias Unberath
We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading.
1 code implementation • 28 Jun 2018 • Ayushi Sinha, Masaru Ishii, Russell H. Taylor, Gregory D. Hager, Austin Reiter
Several registration algorithms have been developed, many of which achieve high accuracy.
no code implementations • 25 Jun 2018 • Xingtong Liu, Ayushi Sinha, Mathias Unberath, Masaru Ishii, Gregory Hager, Russell H. Taylor, Austin Reiter
We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading.
no code implementations • 8 Jun 2018 • Ayushi Sinha, Xingtong Liu, Austin Reiter, Masaru Ishii, Gregory D. Hager, Russell H. Taylor
Clinical examinations that involve endoscopic exploration of the nasal cavity and sinuses often do not have a reference image to provide structural context to the clinician.
no code implementations • 9 Apr 2018 • Javad Fotouhi, Mathias Unberath, Giacomo Taylor, Arash Ghaani Farashahi, Bastian Bier, Russell H. Taylor, Greg M. Osgood, M. D., Mehran Armand, Nassir Navab
The main challenge is to automatically estimate the desired plane of symmetry within the patient's pre-operative CT. We propose to estimate this plane using a non-linear optimization strategy, by minimizing Tukey's biweight robust estimator, relying on the partial symmetry of the anatomy.
no code implementations • 4 Jan 2018 • Javad Fotouhi, Clayton P. Alexander, Mathias Unberath, Giacomo Taylor, Sing Chun Lee, Bernhard Fuerst, Alex Johnson, Greg Osgood, Russell H. Taylor, Harpal Khanuja, Mehran Armand, Nassir Navab
Reproducibly achieving proper implant alignment is a critical step in total hip arthroplasty (THA) procedures that has been shown to substantially affect patient outcome.
no code implementations • 25 Oct 2016 • Seth D. Billings, Ayushi Sinha, Austin Reiter, Simon Leonard, Masaru Ishii, Gregory D. Hager, Russell H. Taylor
Functional endoscopic sinus surgery (FESS) is a surgical procedure used to treat acute cases of sinusitis and other sinus diseases.