The Centre has a long history of developing new techniques for medical imaging (particularly in magnetic resonance imaging), transforming them from a primarily diagnostic modality into an interventional and therapeutic platform. This is facilitated by the Centre's strong engineering background in practical imaging and image analysis platform development, as well as advances in minimal access and robotic assisted surgery. Hamlyn has a strong tradition in pursuing basic sciences and theoretical research, with a clear focus on clinical translation.

In response to the current paradigm shift and clinical demand in bringing cellular and molecular imaging modalities to an in vivo – in situ setting during surgical intervention, our recent research has also been focussed on novel biophotonics platforms that can be used for real-time tissue characterisation, functional assessment, and intraoperative guidance during minimally invasive surgery. This includes, for example, SMART confocal laser endomicroscopy, time-resolved fluorescence spectroscopy and flexible FLIM catheters.

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    Zhang L, Lee S-L, Yang G-Z, Mylonas GPet al., 2014,

    Semi-autonomous navigation for robot assisted tele-echography using generalized shape models and co-registered RGB-D cameras

    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Publisher: IEEE, Pages: 3496-3502

    — This paper proposes a semi-autonomous navigatedmaster-slave system, for robot assisted remote echography forearly trauma assessment. Two RGB-D sensors are used tocapture real-time 3D information of the scene at the slave sidewhere the patient is located. A 3D statistical shape model isbuilt and used to generate a customized patient model basedon the point cloud generated by the RGB-D sensors. Thecustomized patient model can be updated and adaptively fittedto the patient. The model is also used to generate a trajectoryto navigate a KUKA robotic arm and safely conduct theultrasound examination. Extensive validation of the proposedsystem shows promising results in terms of accuracy androbustness.

    Ye M, Johns E, Giannarou S, Yang G-Zet al.,

    Online Scene Association for Endoscopic Navigation

    , 17th International Conference MICCAI 2014, Publisher: Springer International Publishing, Pages: 316-323, ISSN: 0302-9743

    Endoscopic surveillance is a widely used method for moni-toring abnormal changes in the gastrointestinal tract such as Barrett'sesophagus. Direct visual assessment, however, is both time consumingand error prone, as it involves manual labelling of abnormalities on alarge set of images. To assist surveillance, this paper proposes an onlinescene association scheme to summarise an endoscopic video into scenes,on-the-y. This provides scene clustering based on visual contents, andalso facilitates topological localisation during navigation. The proposedmethod is based on tracking and detection of visual landmarks on thetissue surface. A generative model is proposed for online learning of pair-wise geometrical relationships between landmarks. This enables robustdetection of landmarks and scene association under tissue deformation.Detailed experimental comparison and validation have been conductedon in vivo endoscopic videos to demonstrate the practical value of ourapproach.

    Ali K, Brizzi A, Pellegrini A, Lee S-L, Yang G-Z, Hao Yet al., 2014,

    Impact of Body Shape on BAN Communication Channel at 5.8 GHz

    , Joint USNC-URSI Radio Science Meeting / AP-S Symposium, Publisher: IEEE, Pages: 121-121, ISSN: 2572-3804
    Ye M, Giannarou S, Patel N, Teare J, Yang G-Zet al.,

    Pathological Site Retargeting under Tissue Deformation Using Geometrical Association and Tracking

    , 16th International Conference on MICCAI 2013, Publisher: Springer Berlin Heidelberg, Pages: 67-74, ISSN: 0302-9743

    Recent advances in microscopic detection techniques includefluorescence spectroscopy, fibred confocal microscopy and optical coher-ence tomography. These methods can be integrated with miniaturisedprobes to assist endoscopy, thus enabling diseases to be detected at anearly and pre-invasive stage, forgoing the need for histopathological sam-ples and off-line analysis. Since optical-based biopsy does not leave vis-ible marks after sampling, it is important to track the biopsy sites toenable accurate retargeting and subsequent serial examination. In thispaper, a novel approach is proposed for pathological site retargeting ingastroscopic examinations. The proposed method is based on affine defor-mation modelling with geometrical association combined with cascadedonline learning and tracking. It provides online in vivo retargeting, and is able to track pathological sites in the presence of tissue deformation. It is also robust to partial occlusions and can be applied to a range of imaging probes including confocal laser endomicroscopy.

    Mountney P, Lo B, Thiernjarus S, Stoyanov D, Zhong-Yang Get al., 2007,

    A Probabilistic framework for tracking deformable soft tissue in minimally invasive surgery

    , 10th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Publisher: SPRINGER-VERLAG BERLIN, Pages: 34-+, ISSN: 0302-9743

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