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Item type:Publication, Access status: without files , 6D robotic OCT scanning of curved tissue surfacesOptical coherence tomography (OCT) is a non-invasive volumetric imaging modality with high spatial and temporal resolution. Imaging larger tissue regions requires moving the OCT probe to cover the target area. Handheld scanning approaches rely on overlapping volumes for stitching, whereas, robotic scanning approaches often restrict motion to pure translations to avoid full hand-eye calibration - a challenging problem given the OCT probe's small field of view. These registration- or translation-based stitching strategies, however, struggle when imaging curved tissue surfaces. We propose a fiducial marker enabling full six-degree-of-freedom hand-eye calibration for a robot-mounted OCT probe. Our method produces highly repeatable transform estimates and, in experiments on two phantom surfaces, enables consistent robotic scanning of large, curved geometries. Because the approach does not depend on image-based registration, it avoids error accumulation along scanning paths and outperforms conventional purely translational robotic scanning.Publicationtype: Conference Paper9 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Tracking any point methods for markerless 3D tissue tracking in endoscopic stereo images(De Gruyter, 2025-12-01); ; ; ; Minimally invasive surgery presents challenges such as dynamic tissue motion and a limited field of view. Accurate tissue tracking has the potential to support surgical guidance, improve safety by helping avoid damage to sensitive structures, and enable context-aware robotic assistance during complex procedures. In this work, we propose a novel method for markerless 3D tissue tracking by leveraging 2D Tracking Any Point (TAP) networks. Our method combines two CoTracker models, one for temporal tracking and one for stereo matching, to estimate 3D motion from stereo endoscopic images. We evaluate the system using a clinical laparoscopic setup and a robotic arm simulating tissue motion, with experiments conducted on a synthetic 3D-printed phantom and a chicken tissue phantom. Tracking on the chicken tissue phantom yielded more reliable results, with Euclidean distance errors as low as 1.1 mm at a velocity of 10 mm/s. These findings highlight the potential of TAP-based models for accurate, markerless 3D tracking in challenging surgical scenarios.Publicationtype: Journal Article25 14 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Robust tracking with particle filtering for fluorescent cardiac imaging(De Gruyter, 2025-12-01); ; ; ; Intraoperative fluorescent cardiac imaging enables quality control following coronary bypass grafting surgery.We can estimate local quantitative indicators, such as cardiac perfusion, by tracking local feature points. However, heart motion and significant fluctuations in image characteristics caused by vessel structural enrichment limit traditional tracking methods. We propose a particle filtering tracker based on cyclicconsistency checks to robustly track particles sampled to follow target landmarks. Our method tracks 117 targets simultaneously at 25.4 fps, allowing real-time estimates during interventions. It achieves a tracking error of (5.00 ± 0.22 px) and outperforms other deep learning trackers (22.3 ± 1.1 px) and conventional trackers (58.1 ± 27.1 px).Publicationtype: Journal Article11 8