Kawal Rhode
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View article: Design and Evaluation of a Dual-Bendable, Compressible Robotic Guide Sheath for Heart Valve Interventions
Design and Evaluation of a Dual-Bendable, Compressible Robotic Guide Sheath for Heart Valve Interventions Open
Structural heart interventions require precise navigation through tortuous and dynamic cardiac anatomies. However, current guide sheaths often lack sufficient maneuverability for positioning additional catheters. To address these limitatio…
View article: Robust Noisy Pseudo-label Learning for Semi-supervised Medical Image Segmentation Using Diffusion Model
Robust Noisy Pseudo-label Learning for Semi-supervised Medical Image Segmentation Using Diffusion Model Open
Obtaining pixel-level annotations in the medical domain is both expensive and time-consuming, often requiring close collaboration between clinical experts and developers. Semi-supervised medical image segmentation aims to leverage limited …
View article: Catheter detection and segmentation in X-ray images via multi-task learning
Catheter detection and segmentation in X-ray images via multi-task learning Open
Purpose Automated detection and segmentation of surgical devices, such as catheters or wires, in X-ray fluoroscopic images have the potential to enhance image guidance in minimally invasive heart surgeries. Methods In this paper, we presen…
View article: A Novel Thermochromic Myocardial Phantom for Radiofrequency Ablation and Cryoablation
A Novel Thermochromic Myocardial Phantom for Radiofrequency Ablation and Cryoablation Open
In the growing field of electrophysiology, cardiac ablation either via heating or freezing target tissues using catheters, induces localised scarring to block or destroy defective electrical pathways in the heart. To test equipment and abl…
View article: SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions
SeptalPro: Development and Usability Evaluation of a Force-Sensing Robotic Transseptal Puncture System for Cardiac Interventions Open
This work establishes the first comprehensive framework for evaluating robotic TSP systems through integration of high-precision force sensing, clinically-validated performance metrics, and structured assessment protocols, providing essent…
View article: Development and Evaluation of a Robotic System for Safe Cardiac Sheath Delivery
Development and Evaluation of a Robotic System for Safe Cardiac Sheath Delivery Open
This work contributes to advancing robotic-assisted cardiac sheath delivery, providing a reliable and safer method for navigating challenging anatomical structures.
View article: Catheter Detection and Segmentation in X-ray Images via Multi-task Learning
Catheter Detection and Segmentation in X-ray Images via Multi-task Learning Open
Automated detection and segmentation of surgical devices, such as catheters or wires, in X-ray fluoroscopic images have the potential to enhance image guidance in minimally invasive heart surgeries. In this paper, we present a convolutiona…
View article: Design of a Cost-Effective Ultrasound Force Sensor and Force Control System for Robotic Extra-Body Ultrasound Imaging
Design of a Cost-Effective Ultrasound Force Sensor and Force Control System for Robotic Extra-Body Ultrasound Imaging Open
Ultrasound imaging is widely valued for its safety, non-invasiveness, and real-time capabilities but is often limited by operator variability, affecting image quality and reproducibility. Robot-assisted ultrasound may provide a solution by…
View article: Low-cost male urogenital simulator for penile implant surgery training: a 3D printing approach
Low-cost male urogenital simulator for penile implant surgery training: a 3D printing approach Open
Background Penile implant surgery is the standard surgical treatment for end-stage erectile dysfunction. However, the growing complexity of modern high-tech penile prostheses has increased the demand for more practical training opportuniti…
View article: Evaluation of a Three-Dimensional Printed Interventional Simulator for Cardiac Ablation Therapy Training
Evaluation of a Three-Dimensional Printed Interventional Simulator for Cardiac Ablation Therapy Training Open
Cardiac ablation (CA) is an interventional electrophysiological procedure used to disrupt arrhythmic substrates in the myocardium by inducing localized scarring. Current CA training relies on the master–apprentice model. In different field…
View article: Fiducial Marker Based Patient-to-Robot Registration and Target Tracking for Automatic Extra-body Ultrasound Imaging<sup>*</sup>
Fiducial Marker Based Patient-to-Robot Registration and Target Tracking for Automatic Extra-body Ultrasound Imaging<sup>*</sup> Open
Ultrasound imaging is recognized for its safety, non-invasiveness, and radiation-free real-time visualization capabilities. In contrast to the complete automation achieved in MRI and CT modalities, ultrasound scanning remains reliant on op…
View article: Cardiac ultrasound simulation for autonomous ultrasound navigation
Cardiac ultrasound simulation for autonomous ultrasound navigation Open
Introduction Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive traini…
View article: Low-Cost Male Urogenital Simulator for Penile Implant Surgery Training:A 3D Printing Approach
Low-Cost Male Urogenital Simulator for Penile Implant Surgery Training:A 3D Printing Approach Open
Background Penile implant surgery is the standard surgical treatment for end-stage erectile dysfunction. However, the growing complexity of modern high-tech penile prostheses has increased the demand for more practical training opportuniti…
View article: CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System
CardioXplorer: An Open-Source Modular Teleoperative Robotic Catheter Ablation System Open
Atrial fibrillation, the most prevalent cardiac arrhythmia, is treated by catheter ablation to isolate electrical triggers. Clinical trials on robotic catheter systems hold promise for improving the safety and efficacy of the procedure. Ho…
View article: Goal-conditioned reinforcement learning for ultrasound navigation guidance
Goal-conditioned reinforcement learning for ultrasound navigation guidance Open
Transesophageal echocardiography (TEE) plays a pivotal role in cardiology for diagnostic and interventional procedures. However, using it effectively requires extensive training due to the intricate nature of image acquisition and interpre…
View article: Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization
Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization Open
Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this work, we designed a module for…
View article: Craniofacial phenotyping with fetal MRI: a feasibility study of 3D visualisation, segmentation, surface-rendered and physical models
Craniofacial phenotyping with fetal MRI: a feasibility study of 3D visualisation, segmentation, surface-rendered and physical models Open
This study explores the potential of 3D Slice-to-Volume Registration (SVR) motion-corrected fetal MRI for craniofacial assessment, traditionally used only for fetal brain analysis. In addition, we present the first description of an automa…
View article: Cardiac ultrasound simulation for autonomous ultrasound navigation
Cardiac ultrasound simulation for autonomous ultrasound navigation Open
Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the…
View article: An IRAF-based pipeline for reduction and analysis of archived ROSAT data
An IRAF-based pipeline for reduction and analysis of archived ROSAT data Open
Here we describe how IRAF/PROS was used to compute source hardness ratios for the recently published Einstein Catalog of IPC X-ray Sources. This catalog was prepared from the Imaging Proportional Counter (IPC) data of the Einstein X-ray Ob…
View article: Biplane 3D overlay guidance for congenital heart disease to assist cardiac catheterization interventions—A pilot study
Biplane 3D overlay guidance for congenital heart disease to assist cardiac catheterization interventions—A pilot study Open
Cardiac catheterization for congenital heart disease (CHD) performed under fluoroscopic guidance still lacks definition and requires exposure to ionizing radiation and contrast agents, with most patients needing multiple procedures through…
View article: Craniofacial phenotyping with fetal MRI: A feasibility study of 3D visualisation, segmentation, surface-rendered and physical models
Craniofacial phenotyping with fetal MRI: A feasibility study of 3D visualisation, segmentation, surface-rendered and physical models Open
This study explores the potential of 3D Slice-to-Volume Registration (SVR) motion-corrected fetal MRI for craniofacial assessment, traditionally used only for fetal brain analysis. In addition, we present the first description of an automa…
View article: Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot
Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot Open
This letter presents vision-based autonomous navigation of a steerable soft growing robot. Our experimental platform is the previously presented MAMMOBOT, which is a small-diameter eversion growing robot with an embedded steerable catheter…
View article: Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review
Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review Open
Background Autonomous navigation of catheters and guidewires in endovascular interventional surgery can decrease operation times, improve decision-making during surgery, and reduce operator radiation exposure while increasing access to tre…
View article: Comparative verification of control methodology for robotic interventional neuroradiology procedures
Comparative verification of control methodology for robotic interventional neuroradiology procedures Open
Purpose The use of robotics is emerging for performing interventional radiology procedures. Robots in interventional radiology are typically controlled using button presses and joystick movements. This study identified how different human–…
View article: Assessing the impact of <scp>3D</scp> image segmentation workshops on anatomical education and image interpretation: A prospective pilot study
Assessing the impact of <span>3D</span> image segmentation workshops on anatomical education and image interpretation: A prospective pilot study Open
Three‐dimensional (3D) segmentation, a process involving digitally marking anatomical structures on cross‐sectional images such as computed tomography (CT), and 3D printing (3DP) are being increasingly utilized in medical education. Exposu…
View article: Trocar localisation for robot-assisted vitreoretinal surgery
Trocar localisation for robot-assisted vitreoretinal surgery Open
Purpose Robot-assisted vitreoretinal surgery provides precise and consistent operations on the back of the eye. To perform this safely, knowledge of the surgical instrument’s remote centre of motion (RCM) and the location of the insertion …