Guanglin Cao

Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots

Hiu Ching Cheung, Wenchao Yue, Zhengran Han, Mingcong Chen et autres

Abstract Tracheostomy requires precise localization of the tracheal incision site; however, conventional manual palpation is subjective and often unreliable, while ultrasound utility remains operator-dependent. This work presents a learning-based framework for hierarchical tracheal anatomy understanding, designed specifically for ultrasound-guided robotic systems. We …

hk, gb, fr (code pays fourni par la source)

Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots

Hiu Ching Cheung, Wenchao Yue, Zhengran Han, Mingcong Chen et autres

Tracheostomy requires precise localization of the tracheal incision site; however, conventional manual palpation is subjective and often unreliable, while ultrasound utility remains operator-dependent. This work presents a learning-based framework for hierarchical tracheal anatomy understanding, designed specifically for ultrasound-guided robotic systems. We propose …

hk, gb (code pays fourni par la source)

PADReg: Physics-Aware Deformable Registration Guided by Contact Force for Ultrasound Sequences

Yimeng Geng, Mingyang Zhao, Fei Xu, Guanglin Cao et autres

cn (code pays fourni par la source)

Anatomy-Aware Robotic Ultrasound Path Planning With Diffusion-Based View Completion

Guanglin Cao, Danqian Cao, Tongxi Zhou, Hongbin Liu

Autonomous ultrasound (US) probe initial localization is challenging when external cameras are obstructed or provide only partial patient views, as this limits the utility of anatomical priors. To overcome this, we introduce a novel robotic US probe localization framework featuring two key …

cn (code pays fourni par la source)

Photoacoustic Triaxial Force Sensing via Integrated Polymer Waveguides for Ultra-Compact Robotic Surgical Instruments

Danqian Cao, Guanglin Cao, Jian Jun Hu, Tianrui Zhao et autres

Achieving triaxial tactile force sensing while maintaining miniaturization for robotic-assisted minimally invasive surgery (RMIS) instrument tips remains a significant challenge. Conventional sensing mechanisms struggle to adequately decouple force components and are limited by bulky configurations in space-constrained surgical environments. This article presents …

cn, gb (code pays fourni par la source)

Neural Ultrasound Shape Reconstruction via Gated Fusion and Sampson Distance

Zhinuo Zhou, Jiuan Chen, Guanglin Cao, Mingyang Zhao et autres

in, cn (code pays fourni par la source)

USPilot: An Embodied Robotic Assistant Ultrasound System With a Large Language Model Enhanced Graph Planner

Mingcong Chen, Siqi Fan, Guanglin Cao, Yunhui Liu et autres

In the era of Large Language Models (LLMs), embodied artificial intelligence presents transformative opportunities for robotic manipulation tasks. Ultrasound imaging, a widely used and cost-effective medical diagnostic procedure, faces. challenges due to the global shortage of professional sonographers. To address this issue, …

hk, cn (code pays fourni par la source)

PADReg: Physics-Aware Deformable Registration Guided by Contact Force for Ultrasound Sequences

Yimeng Geng, Fan Xu, Guanglin Cao, Gaofeng Meng et autres

Ultrasound deformable registration estimates spatial transformations between pairs of deformed ultrasound images, which is crucial for capturing biomechanical properties and enhancing diagnostic accuracy in diseases such as thyroid nodules and breast cancer. However, ultrasound deformable registration remains highly challenging, especially under large …

USPilot: An Embodied Robotic Assistant Ultrasound System with Large Language Model Enhanced Graph Planner

Mingcong Chen, Siqi Fan, Guanglin Cao

In the era of Large Language Models (LLMs), embodied artificial intelligence presents transformative opportunities for robotic manipulation tasks. Ultrasound imaging, a widely used and cost-effective medical diagnostic procedure, faces challenges due to the global shortage of professional sonographers. To address this issue, …

Respiratory Motion-Robust Robotic Ultrasound Acquisitions via Vision-Haptic Fusion Control and 3-D Compensation

Guanglin Cao, Danqian Cao, Hongbin Liu

Robotic three-dimensional (3D) ultrasound (US) has demonstrated potential for reliable organ volume acquisition. However, respiratory motion during scanning critically reduces volume measurements accuracy, presenting a clinical limitation that affects not only cardiovascular but also all abdominal and spinal US diagnoses. To address …

cn (code pays fourni par la source)

Force Sensing Guided Artery-Vein Segmentation via Sequential Ultrasound Images

Yimeng Geng, Gaofeng Meng, Mingcong Chen, Guanglin Cao et autres

Accurate identification of arteries and veins in ultrasound images is crucial for vascular examinations and interventions in robotics-assisted surgeries. However, current methods for ultrasound vessel segmentation face challenges in distinguishing between arteries and veins due to their morphological similarities. To address this …

Transforming Surgical Interventions with Embodied Intelligence for Ultrasound Robotics

Huan Xu, Jinlin Wu, Guanglin Cao, Zhen Chen et autres

Ultrasonography has revolutionized non-invasive diagnostic methodologies, significantly enhancing patient outcomes across various medical domains. Despite its advancements, integrating ultrasound technology with robotic systems for automated scans presents challenges, including limited command understanding and dynamic execution capabilities. To address these challenges, this paper …