Investigating Robot Control Policy Learning for Autonomous X-ray-guided Spine Procedures

Florence Klitzner, Blanca Inigo, Benjamin D. Killeen, Lalithkumar Seenivasan, Michelle Song, Axel Krieger, Mathias Unberath

Imitation learning policy investigation for bi-plane X-ray-guided cannula insertion using large-scale simulation with DeepDRR; 68.5% first-pass success and preliminary sim-to-real transfer.

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FieldGPU: A GPU-based Version of Field II with Python Bindings for Large Scale Simulations and Complex Transducer Configurations

Florence Klitzner, Rüdiger Göbl, Christoph Hennersperger, Stefan Wörz

We present FieldGPU, a CUDA-accelerated reimplementation of the Field II ultrasound simulation framework, accessible as a Python package. FieldGPU achieves up to 1100 times performance increase compared to Field II for large-scale simulations with 10 million scatterers, significantly reducing simulation times while providing a modern Python interface.

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