Using Deep Neural Networks to Improve Contact Wrench Estimation of Serial Robotic Manipulators in Static Tasks.

Reliable force-driven robot-interaction requires precise contact wrench measurements. In most robot systems these measurements are severely incorrect and in most manipulation tasks expensive additional force sensors are installed. We follow a learning approach to train the dependencies between joint torques and end-effector contact wrenches.

Towards automated ultrasound imaging-robotic image acquisition in liver and prostate for long-term motion monitoring.

Real-time volumetric (4D) ultrasound has shown high potential for diagnostic and therapy guidance tasks. One of the main drawbacks of ultrasound imaging to date is the reliance on manual probe positioning and the resulting user dependence. Robotic assistance could help overcome this issue and facilitate the acquisition of long-term image data to observe dynamic processesover time.

Navigation and visualisation with HoloLens in endovascular aortic repair.

Introduction: Endovascular aortic repair (EVAR) is a minimal-invasive technique that prevents life-threatening rupture in patients with aortic pathologies by implantation of an endoluminal stent graft. During the endovascular procedure, device navigation is currently performed by fluoroscopy in combination with digital subtraction angiography. This study presents the current iterative process of biomedical engineering within the disruptive interdisciplinary project , which includes advanced navigation, image techniques and augmented reality with the aim of reducing side effects (namely radiation exposure and contrast agent administration) and optimising visualisation during EVAR procedures.

Boosting the effect of reward on cognitive control using TMS over the left IFJ.

Although an enhancing effect of reward on cognitive performance has been observed consistently, its neural underpinnings remain elusive. Recent evidence suggests that the inferior frontal junction (IFJ) may be a key player underlying such an enhancement by integrating motivational processes and cognitive control. However, its exact role and in particular a potential causality of IFJ activation is still unclear.

A visual probe positioning tool for 4D ultrasound-guided radiotherapy.

Ultrasound (US) guidance is a rapidly growing area in image-guided radiotherapy. For motion compensation, the therapy target needs to be visualized with the US probe to continuously determine its position and adapt for shifts. While US has obvious benefits such as real-time capability and proven safety, one of the main drawbacks to date is its user dependency - high quality results require long years of clinical experience.

Efficient Registration of High-Resolution Feature Enhanced Point Clouds.

We present a novel framework for rigid point cloud registration. Our approach is based on the principles of mechanics and thermodynamics. We solve the registration problem by assuming point clouds as rigid bodies consisting of particles.

Towards X-ray free endovascular interventions - using HoloLens for on-line holographic visualisation.

A major challenge during endovascular interventions is visualising the position and orientation of the catheter being inserted. This is typically achieved by intermittent X-ray imaging. Since the radiation exposure to the surgeon is considerable, it is desirable to reduce X-ray exposure to the bare minimum needed.

Impact of robotic ultrasound image guidance on plan quality in SBRT of the prostate.

Objective: Ultrasound provides good image quality, fast volumetric imaging and is established for abdominal image guidance. Robotic transducer placement may facilitate intrafractional motion compensation in radiation therapy. We consider integration with the CyberKnife and study whether the kinematic redundancy of a seven-degrees-of-freedom robot allows for acceptable plan quality for prostate treatments.

Robotic ultrasound-guided SBRT of the prostate: feasibility with respect to plan quality.

Purpose: Advances in radiation therapy delivery systems have enabled motion compensated SBRT of the prostate. A remaining challenge is the integration of fast, non-ionizing volumetric imaging. Recently, robotic ultrasound has been proposed as an intra-fraction image modality.