Benoît Rosa
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View article: Physico-mechanical characterization of 3D-printed PLGA for patient-specific resorbable implants in craniofacial surgery
Physico-mechanical characterization of 3D-printed PLGA for patient-specific resorbable implants in craniofacial surgery Open
Patient-specific implant (PSI) has optimized the management for a wide range of complex craniofacial deformity over the past years by increasing the accuracy of surgical procedures and lowering the operating time. In hypertelorism (HTO) su…
View article: ACE-Net: A-line coordinates encoding network for vascular structure segmentation in ultrasound images
ACE-Net: A-line coordinates encoding network for vascular structure segmentation in ultrasound images Open
Ultrasound (US) imaging enables the evaluation of vascular structures in real time, and it can provide morphological and pathological information during US-guided procedures. Automatic prediction of vascular structure boundaries can help c…
View article: SAF-IS: A spatial annotation free framework for instance segmentation of surgical tools
SAF-IS: A spatial annotation free framework for instance segmentation of surgical tools Open
View article: Proof of concept of using an in-house bioprinter to replicate an intervertebral disc
Proof of concept of using an in-house bioprinter to replicate an intervertebral disc Open
The intervertebral disc, a fibro-cartilaginous structure, contains a gelatinous core (Nucleus pulposus) surrounded by collagen fiber lamellae (Annulus fibrosus). Intervertebral disc degeneration leads to a debilitating disorder, and new tr…
View article: Force Sensing along Continuum Robots using Compliance Matrix and Shape Acquisition
Force Sensing along Continuum Robots using Compliance Matrix and Shape Acquisition Open
Continuum robots are promising for minimally invasive surgery. They consist of thin and flexible structures whose shape can be continuously deformed using re- mote actuators, allowing them to be inserted in small tubular cavities. For safe…
View article: Exact derivative propagation method to compute the generalized compliance matrix for continuum robots: Application to concentric tubes continuum robots
Exact derivative propagation method to compute the generalized compliance matrix for continuum robots: Application to concentric tubes continuum robots Open
View article: A Semi-Autonomous Control Mode for Flexible Steerable Intraluminal Platforms
A Semi-Autonomous Control Mode for Flexible Steerable Intraluminal Platforms Open
Flexible steerable intraluminal robot platforms allow treatment and screening of colorectal cancer at an early stage, potentially reducing the associated incidence and mortality rates. Such robotic platforms often rely on a tree-like flexi…
View article: Ureteroscopy Lumen Segmentation Dataset
Ureteroscopy Lumen Segmentation Dataset Open
This is a dataset for lumen segmentation. The dataset is composed of 1,754 endoscopic images from 23 patients undergoing Ureteroscopy. The dataset is composed of a total 2,187 endoscopic images with its respective masks highlighting the lu…
View article: Autonomous Intraluminal Navigation Dataset
Autonomous Intraluminal Navigation Dataset Open
This is a dataset for lumen segmentation. The dataset is composed of 1,873 images taken from endoscopic videos of 10 different phantoms. For each endoscopic image there is its corresponding mask in png format. The dataset is divided by fol…
View article: Autonomous Intraluminal Navigation Dataset
Autonomous Intraluminal Navigation Dataset Open
This is a dataset for lumen segmentation. The dataset is composed of 1,873 images taken from endoscopic videos of 10 different phantoms. For each endoscopic image there is its corresponding mask in png format. The dataset is divided by fol…
View article: Ureteroscopy Lumen Segmentation Dataset
Ureteroscopy Lumen Segmentation Dataset Open
This is a dataset for lumen segmentation. The dataset is composed of 1,754 endoscopic images from 23 patients undergoing Ureteroscopy. The dataset is composed of a total 2,187 endoscopic images with its respective masks highlighting the lu…
View article: FEM-based model for cable-actuated continuum robots
FEM-based model for cable-actuated continuum robots Open
International audience
View article: SAF-IS: a Spatial Annotation Free Framework for Instance Segmentation of Surgical Tools
SAF-IS: a Spatial Annotation Free Framework for Instance Segmentation of Surgical Tools Open
Instance segmentation of surgical instruments is a long-standing research problem, crucial for the development of many applications for computer-assisted surgery. This problem is commonly tackled via fully-supervised training of deep learn…
View article: Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives
Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives Open
International audience
View article: Semi-Supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images
Semi-Supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images Open
This study shows the potential of using semi-supervised GAN-based bladder tissue classification when annotations are limited in multi-domain data.
View article: Endoscopic Bladder Tissue Classification Dataset
Endoscopic Bladder Tissue Classification Dataset Open
This is the dataset used in the article Semi-Supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images [1]. The dataset is composed of 1,754 endoscopic images from 23 patients undergoing Trans-Urethral Resection of Bladder…
View article: Endoscopic Bladder Tissue Classification Dataset
Endoscopic Bladder Tissue Classification Dataset Open
This is the dataset used in the article Semi-Supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images [1]. The dataset is composed of 1,754 endoscopic images from 23 patients undergoing Trans-Urethral Resection of Bladder…
View article: Automatic intraluminal scanning with a steerable endoscopic optical coherence tomography catheter for gastroenterology applications
Automatic intraluminal scanning with a steerable endoscopic optical coherence tomography catheter for gastroenterology applications Open
SignificanceEndoscopic optical coherence tomography (OCT) enables real-time optical biopsy of human organs. Endoscopic probes require miniaturization of optics, which in turn limits field of view. When larger imaging areas are needed such …
View article: FUN-SIS: A Fully UNsupervised approach for Surgical Instrument Segmentation
FUN-SIS: A Fully UNsupervised approach for Surgical Instrument Segmentation Open
View article: Semi-supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images
Semi-supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images Open
Objective: Accurate visual classification of bladder tissue during Trans-Urethral Resection of Bladder Tumor (TURBT) procedures is essential to improve early cancer diagnosis and treatment. During TURBT interventions, White Light Imaging (…
View article: Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing
Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing Open
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain t…
View article: A Spring-Based Inductive Sensor for Soft and Flexible Robots
A Spring-Based Inductive Sensor for Soft and Flexible Robots Open
The development of flexible and soft robots generates new needs in terms of instrumentation, as large encountered deformations require highly stretchable strain sensors. In this regard, we contribute to the adoption of inductive sensors by…
View article: FUN-SIS: a Fully UNsupervised approach for Surgical Instrument Segmentation
FUN-SIS: a Fully UNsupervised approach for Surgical Instrument Segmentation Open
Automatic surgical instrument segmentation of endoscopic images is a crucial building block of many computer-assistance applications for minimally invasive surgery. So far, state-of-the-art approaches completely rely on the availability of…
View article: Distortion and instability compensation with deep learning for rotational scanning endoscopic optical coherence tomography
Distortion and instability compensation with deep learning for rotational scanning endoscopic optical coherence tomography Open
Optical Coherence Tomography (OCT) is increasingly used in endoluminal procedures since it provides high-speed and high resolution imaging. Distortion and instability of images obtained with a proximal scanning endoscopic OCT system are si…
View article: Modeling and control strategies for flexible devices
Modeling and control strategies for flexible devices Open
View article: Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing
Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing Open
View article: Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions Open
Soft and continuum robots are transforming medical interventions thanks to their flexibility, miniaturization, and multidirectional movement abilities. Although flexibility enables reaching targets in unstructured and dynamic environments,…
View article: Image-Guided Control of an Endoscopic Robot for OCT Path Scanning
Image-Guided Control of an Endoscopic Robot for OCT Path Scanning Open
International audience
View article: Data Stream Stabilization for Optical Coherence Tomography Volumetric Scanning
Data Stream Stabilization for Optical Coherence Tomography Volumetric Scanning Open
Optical Coherence Tomography (OCT) is an emerging medical imaging modality for luminal organ diagnosis. The non-constant rotation speed of optical components in the OCT catheter tip causes rotational distortion in OCT volumetric scanning. …
View article: Surgical Tool Segmentation Using Generative Adversarial Networks With Unpaired Training Data
Surgical Tool Segmentation Using Generative Adversarial Networks With Unpaired Training Data Open
International audience