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Ultrasound and computed tomography registration is a valuable tool for interventional imaging and navigation, but current methods are limited in reliability or usefulness, requiring large fields of view, large ultrasound penetration depth, distinct image features, or contours of the investigated organs. Computationally cheap, small-field-of-view registration proved elusive so far. We propose the use...
Currently industrial robotic systems employ almost exclusively global maps for navigation purposes, if any. Additional information - intra-process, spatial, current, and persistent sensor data - is useful to cope with uncertainty, measurement errors, and incompleteness of data. We propose to augment robot world models by using local sensors (which provide data from a local epsiv-environment) and build...
Surgical procedures with navigation or robot system support usually require pre-operative planning data. This data can be acquired with imaging techniques such as computed tomography (CT), the current gold standard due to its high precision. With such imaging data, access trajectories, implant positions, individual milling paths, etc. can be computed. We present a novel ultrasound-based method to...
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