Benoit Rosa

Semi-supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images

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...

FUN-SIS: a Fully UNsupervised approach for Surgical Instrument Segmentation

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...

Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing

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...

A Kinematic Bottleneck Approach For Pose Regression of Flexible Surgical Instruments directly from Images

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint...

Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy

Purpose: Ureteroscopy is an efficient endoscopic minimally invasive technique for the diagnosis and treatment of upper tract urothelial carcinoma (UTUC). During ureteroscopy, the automatic...

Self-Supervised Surgical Tool Segmentation using Kinematic Information

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in...

A Lumen Segmentation Method in Ureteroscopy Images based on a Deep Residual U-Net architecture

Ureteroscopy is becoming the first surgical treatment option for the majority of urinary affections. This procedure is performed using an endoscope which provides the surgeon with the visual...

Scanning the surface of soft tissues with a micrometer precision thanks to endomicroscopy based visual servoing

Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing

Intuitive teleoperation of active catheters for endovascular surgery

Fluidic actuation for intra-operative in situ imaging

Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy

Understanding soft tissue behavior for microlaparoscopic surface scan

A biomechanical model describing tangential tissue deformations during contact micro-probe scanning

A Lumen Segmentation Method in Ureteroscopy Images based on a Deep Residual U-Net architecture

A Viterbi Approach to Topology Inference for Large Scale Endomicroscopy Video Mosaicing

Force control for tissue tensioning in precise robotic laser surgery

Self-Supervised Surgical Tool Segmentation using Kinematic Information