2008 IEEE International Symposium on Industrial Electronics, 2008
AbstractThis paper evaluates and improves the capability of the endoscopic surgical robot AESOP ... more AbstractThis paper evaluates and improves the capability of the endoscopic surgical robot AESOP (ComputerMotion Inc., Goleta, CA, USA) to carry out tasks autonomously. First, the Cartesian position accuracy of the robot is measured using an optical tracking system. Since the ...
We introduce a 3D visualization and fusion system to enhance the safety of Radio-Frequency Ablati... more We introduce a 3D visualization and fusion system to enhance the safety of Radio-Frequency Ablation (RFA) procedures by means of new concepts and techniques of data visualization. The developed system introduces a novel Collision Detection (CD) feature in order to avoid hitting major vessels and vital organs with the RFA probe. Intra-operative registration allows the fusion of image data for visual guidance during the insertion of the RFA probe in the abdomen. The proposed system has a component based design and architecture. This RFA system is integrated to support a complete interventional workflow. The system has been successfully used to develop different applications for RFA of liver tumors. The performance of the collision detection has been validated by experiments on a multi-modality abdominal phantom which have shown very good and accurate results.
2008 IEEE International Symposium on Industrial Electronics, 2008
AbstractThis paper evaluates and improves the capability of the endoscopic surgical robot AESOP ... more AbstractThis paper evaluates and improves the capability of the endoscopic surgical robot AESOP (ComputerMotion Inc., Goleta, CA, USA) to carry out tasks autonomously. First, the Cartesian position accuracy of the robot is measured using an optical tracking system. Since the ...
We introduce a 3D visualization and fusion system to enhance the safety of Radio-Frequency Ablati... more We introduce a 3D visualization and fusion system to enhance the safety of Radio-Frequency Ablation (RFA) procedures by means of new concepts and techniques of data visualization. The developed system introduces a novel Collision Detection (CD) feature in order to avoid hitting major vessels and vital organs with the RFA probe. Intra-operative registration allows the fusion of image data for visual guidance during the insertion of the RFA probe in the abdomen. The proposed system has a component based design and architecture. This RFA system is integrated to support a complete interventional workflow. The system has been successfully used to develop different applications for RFA of liver tumors. The performance of the collision detection has been validated by experiments on a multi-modality abdominal phantom which have shown very good and accurate results.
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Papers by Wajid Ali