Alborz Amir-Khalili

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Tumour identification is a critical step in robotassisted partial nephrectomy (RAPN) during which the surgeon determines the tumour localization and resection margins. To help the surgeon in achieving this step, our research work aims at leveraging both preand intra-operative imaging modalities (CT, MRI, laparoscopic US, stereo endoscopic video) to provide(More)
Despite great advances in medical image segmentation, the accurate and automatic segmentation of endoscopic scenes remains a challenging problem. Two important aspects have to be considered in segmenting an endoscopic scene: (1) noise and clutter due to light reflection and smoke from cutting tissue, and (2) structure occlusion (e.g. vessels occluded by(More)
We present a novel real-time implementation of local phase feature extraction from volumetric image data based on 3D directional (log-Gabor) filters. We achieve drastic performance gains without compromising the signal-to-noise ratio by pre-computing the filters and adaptive noise estimation parameters, and streamlining the remainder of the computations to(More)
Hilar dissection is an important and delicate stage in partial nephrectomy during which surgeons remove connective tissue surrounding renal vasculature. Potentially serious complications arise when vessels occluded by fat are missed in the endoscopic view and are not appropriately clamped. To aid in vessel discovery, we propose an automatic method to(More)
In most robot-assisted surgical interventions, multimodal fusion of preand intra-operative data is highly valuable, affording the surgeon a more comprehensive understanding of the surgical scene observed through the stereo endoscopic camera. More specifically, in the case of partial nephrectomy, fusing pre-operative segmentations of kidney and tumor with(More)
Hilar dissection is an important and delicate stage in partial nephrectomy, during which surgeons remove connective tissue surrounding renal vasculature. Serious complications arise when the occluded blood vessels, concealed by fat, are missed in the endoscopic view and as a result are not appropriately clamped. Such complications may include catastrophic(More)
With the advent of robot-assisted laparoscopic surgery (RALS), intra-operative stereo endoscopy is becoming a ubiquitous imaging modality in abdominal interventions. This high resolution intra-operative imaging modality enables the reconstruction of 3D soft-tissue surface geometry with the help of computer vision techniques. This reconstructed surface is a(More)
Robot-assisted surgeries benefit from the availability of a stereo endoscopic camera to provide the surgeon with a 3D view of the surgical scene. This intra-operative imaging modality also enables the reconstruction of 3D soft-tissue surface, which is a prerequisite for many clinical applications such as image-guidance with cross-modality registration,(More)
Identification of vascular structures from medical images is integral to many clinical procedures. Most vessel segmentation techniques ignore the characteristic pulsatile motion of vessels in their formulation. In a recent effort to automatically segment vessels that are hidden under fat, we motivated the use of the magnitude of local pulsatile motion(More)