arXiv subjects

A. Krieger

Publications and source records attributed to A. Krieger.

17 recordsLinked to original sources

arXiv2025

Autonomous Vision-Guided Resection of Central Airway Obstruction

Existing tracheal tumor resection methods often lack the precision required for effective airway clearance, and robotic advancements offer new potential for autonomous resection. We present a vision-guided, autonomous approach for palliative resection of tracheal tumors. This system models the tracheal surface with a fifth-degree polynomial to plan tool trajectories, while a custom Faster R-CNN segmentation pipeline identifies the trachea and tumor boundaries. The electrocautery tool angle is optimized using handheld surgical demonstrations, and trajectories are planned to maintain a 1 mm safety clearance from the tracheal surface. We validated the workflow successfully in five consecutive experiments on ex-vivo animal tissue models, successfully clearing the airway obstruction without trachea perforation in all cases (with more than 90% volumetric tumor removal). These results support the feasibility of an autonomous resection platform, paving the way for future developments in minimally-invasive autonomous resection.

cs.RO↗

arXiv2025

Topology-based deep-learning segmentation method for deep anterior lamellar keratoplasty (DALK) surgical guidance using M-mode OCT data

Deep Anterior Lamellar Keratoplasty (DALK) is a partial-thickness corneal transplant procedure used to treat corneal stromal diseases. A crucial step in this procedure is the precise separation of the deep stroma from Descemet's membrane (DM) using the Big Bubble technique. To simplify the tasks of needle insertion and pneumo-dissection in this technique, we previously developed an Optical Coherence Tomography (OCT)-guided, eye-mountable robot that uses real-time tracking of corneal layers from M-mode OCT signals for control. However, signal noise and instability during manipulation of the OCT fiber sensor-integrated needle have hindered the performance of conventional deep-learning segmentation methods, resulting in rough and inaccurate detection of corneal layers. To address these challenges, we have developed a topology-based deep-learning segmentation method that integrates a topological loss function with a modified network architecture. This approach effectively reduces the effects of noise and improves segmentation speed, precision, and stability. Validation using in vivo, ex vivo, and hybrid rabbit eye datasets demonstrates that our method outperforms traditional loss-based techniques, providing fast, accurate, and robust segmentation of the epithelium and DM to guide surgery.

eess.IV↗

arXiv2024

Reimagining partial thickness keratoplasty: An eye mountable robot for autonomous big bubble needle insertion

Autonomous surgical robots have demonstrated significant potential to standardize surgical outcomes, driving innovations that enhance safety and consistency regardless of individual surgeon experience. Deep anterior lamellar keratoplasty (DALK), a partial thickness corneal transplant surgery aimed at replacing the anterior part of cornea above Descemet membrane (DM), would greatly benefit from an autonomous surgical approach as it highly relies on surgeon skill with high perforation rates. In this study, we proposed a novel autonomous surgical robotic system (AUTO-DALK) based on a customized neural network capable of precise needle control and consistent big bubble demarcation on cadaver and live rabbit models. We demonstrate the feasibility of an AI-based image-guided vertical drilling approach for big bubble generation, in contrast to the conventional horizontal needle approach. Our system integrates an optical coherence tomography (OCT) fiber optic distal sensor into the eye-mountable micro robotic system, which automatically segments OCT M-mode depth signals to identify corneal layers using a custom deep learning algorithm. It enables the robot to autonomously guide the needle to targeted tissue layers via a depth-controlled feedback loop. We compared autonomous needle insertion performance and resulting pneumo-dissection using AUTO-DALK against 1) freehand insertion, 2) OCT sensor guided manual insertion, and 3) teleoperated robotic insertion, reporting significant improvements in insertion depth, pneumo-dissection depth, task completion time, and big bubble formation. Ex vivo and in vivo results indicate that the AI-driven, AUTO-DALK system, is a promising solution to standardize pneumo-dissection outcomes for partial thickness keratoplasty.

cs.RO↗

arXiv2024

Feasibility of detecting shadows in disks induced by infall

Observations performed with high-resolution imaging techniques revealed the existence of shadows in circumstellar disks that can be explained by the misalignment of an inner with respect to an outer disk. The cause of misalignment, however, is still debated. In this study, we investigate the feasibility of observing shadows induced by one prominent scenario that may lead to misalignment, which involves the late infall of material onto a protostellar system. In particular, we use previously performed hydrodynamical simulations of such events, and generate flux maps in the visible, near-infrared, submillimeter, and millimeter wavelength range using Monte Carlo radiative transfer. Based on that, we derive synthetic observations of these systems performed with the instruments SPHERE/VLT and ALMA, which we use as a basis for our subsequent analysis. We find that near-infrared observations with SPHERE are particularly well suited for detecting shadows via direct imaging alongside other features such as gaps, arcs, and streamers. On the contrary, performing a shadow detection based on reconstructed ALMA observations is very challenging due to the high sensitivity that is required for this task. Thus, in cases that allow for a detection, sophisticated analyses may be needed, for instance by the utilization of carefully constructed azimuthal profiles, aiding the search for potentially shallow shadows. Lastly, we conclude that late infall-induced disk misalignment offers a plausible explanation for the emergence of shadows that are observed in various systems.

astro-ph.SR↗

arXiv2022

Feasibility of detecting and characterizing embedded low-mass giant planets in gaps in the VIS/NIR wavelength range

High-contrast imaging in the visible and near-infrared (VIS/NIR) has revealed the presence of a plethora of substructures in circumstellar disks (CSDs). One of the most commonly observed substructures are concentric gaps that may hint at the presence of embedded forming planets. However, direct detections of them are rare, and thus ambiguity regarding the origin of most gap features remains. The aim of this study is to investigate the capabilities of high-contrast VIS/NIR imaging of directly detecting and characterizing low-mass giant planets in gaps. To this end, a grid of models of protoplanetary disks was generated. The models include a central T Tauri star surrounded by a face-on CSD harboring an accreting planet, which itself is surrounded by a circumplanetary disk (CPD) and carves a gap. We use the Monte Carlo radiative transfer code Mol3D to generate temperature distributions and synthetic observations. Based on these simulations, we measured the impact the planet and its CPD have on contrast curves and quantified the impact of the observing wavelength and of five key parameters on the determined signal strength. Then, we applied a detection criterion on our results and assess the capabilities of SPHERE/VLT of detecting the embedded planets. We find that a part of the investigated parameter space includes detectable planets, and we elaborate on the implications of a non-detection. Furthermore, we analyze the potential loss of valuable information by the use of a too small coronagraphic mask. However, we find this outcome to be very unlikely. Finally, within the VIS/NIR we identify for each of the investigated basic properties of the planets and the disks the most promising observing wavelengths that enable us to distinguish between different underlying parameter values. We find, that the detectability and the characterization often benefit from different observing wavelengths.

astro-ph.EP↗

arXiv2021

Breaking Barriers in Robotic Soft Tissue Surgery: Conditional Autonomous Intestinal Anastomosis

Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially challenging as it necessitates intricate imaging, tissue tracking and surgical planning techniques, as well as a precise execution via highly adaptable control strategies. In the laparoscopic setting, soft-tissue surgery is even more challenging due to the need for high maneuverability and repeatability under motion and vision constraints. We demonstrate the first robotic laparoscopic soft tissue surgery with a level of autonomy of 3 out of 5, which allows the operator to select among autonomously generated surgical plans while the robot executes a wide range of tasks independently. We also demonstrate the first in vivo autonomous robotic laparoscopic surgery via intestinal anastomosis on porcine models. We compared the criteria including needle placement corrections, suture spacing, suture bite size, completion time, lumen patency, and leak pressure between the developed system, manual laparoscopic surgery, and robot-assisted surgery (RAS). The ex vivo results indicate that our system outperforms expert surgeons and RAS techniques in terms of consistency and accuracy, and it leads to a remarkable anastomosis quality in living pigs. These results demonstrate that surgical robots exhibiting high levels of autonomy have the potential to improve consistency, patient outcomes, and access to a standard surgical technique.

cs.RO↗

arXiv2020

The scattering order problem in Monte Carlo radiative transfer

Radiative transfer simulation is an important tool that allows us to generate synthetic images of various astrophysical objects. In the case of complex three-dimensional geometries, a Monte Carlo-based method that simulates photon packages as they move through and interact with their environment is often used. Previous studies have shown, in the regime of high optical depths, that the required number of simulated photon packages strongly rises and estimated fluxes may be severely underestimated. In this paper we identify two problems that arise for Monte Carlo radiative transfer simulations that hinder a proper determination of flux: first, a mismatch between the probability and weight of the path of a photon package and second, the necessity of simulating a wide range of high scattering orders. Furthermore, we argue that the peel-off method partly solves these problems, and we additionally propose an extended peel-off method. Our proposed method improves several shortcomings of its basic variant and relies on the utilization of precalculated sphere spectra. We then combine both peel-off methods with the Split method and the Stretch method and numerically evaluate their capabilities as opposed to the pure Split$\,\&\,$Stretch method in an infinite plane-parallel slab setup. We find that the peel-off method greatly enhances the performance of these simulations; in particular, at a transverse optical depth of $τ_{\rm max}=75$ our method achieved a significantly lower error than previous methods while simultaneously saving ${>}95\%$ computation time. Finally, we discuss the inclusion of polarization and Mie-scattering in the extended peel-off method, and argue that it may be necessary to equip future Monte Carlo radiative transfer simulations with additional advanced pathfinding techniques.

astro-ph.IM↗

arXiv2020

Unbiased Monte Carlo continuum radiative transfer in optically thick regions

Radiative transfer describes the propagation of electromagnetic radiation through an interacting medium. This process is often simulated by the use of the Monte Carlo method, which involves the probabilistic determination and tracking of simulated photon packages. In the regime of high optical depths, this approach encounters difficulties since a proper representation of the various physical processes can only be achieved by considering high numbers of simulated photon packages. As a consequence, the demand for computation time rises accordingly and thus practically puts a limit on the optical depth of models that can be simulated. Here we present a method that aims to solve the problem of high optical depths in dusty media, which relies solely on the use of unbiased Monte Carlo radiative transfer. For that end, we identified and precalculated repeatedly occuring and simulated processes, stored their outcome in a multidimensional cumulative distribution function, and immediately replaced the basic Monte Carlo transfer during a simulation by that outcome. During the precalculation, we generated emission spectra as well as deposited energy distributions of photon packages traveling from the center of a sphere to its rim. We carried out a performance test of the method to confirm its validity and gain a boost in computation speed by up to three orders of magnitude. We then applied the method to a simple model of a viscously heated circumstellar disk, and we discuss the necessity of finding a solution for the optical depth problem with regard to a proper temperature calculation. We find that the impact of an incorrect treatment of photon packages in highly optically thick regions extents even to optically thin regions, thus, changing the overall observational appearance of the disk.

astro-ph.IM↗

arXiv2018

LArPix: Demonstration of low-power 3D pixelated charge readout for liquid argon time projection chambers

We report the demonstration of a low-power pixelated readout system designed for three-dimensional ionization charge detection and digital readout of liquid argon time projection chambers (LArTPCs). Unambiguous 3D charge readout was achieved using a custom-designed system-on-a-chip ASIC (LArPix) to uniquely instrument each pad in a pixelated array of charge-collection pads. The LArPix ASIC, manufactured in 180 nm bulk CMOS, provides 32 channels of charge-sensitive amplification with self-triggered digitization and multiplexed readout at temperatures from 80 K to 300 K. Using an 832-channel LArPix-based readout system with 3 mm spacing between pads, we demonstrated low-noise ($<$500 e$^-$ RMS equivalent noise charge) and very low-power ($<$100 $μ$W/channel) ionization signal detection and readout. The readout was used to successfully measure the three-dimensional ionization distributions of cosmic rays passing through a LArTPC, free from the ambiguities of existing projective techniques. The system design relies on standard printed circuit board manufacturing techniques, enabling scalable and low-cost production of large-area readout systems using common commercial facilities. This demonstration overcomes a critical technical obstacle for operation of LArTPCs in high-occupancy environments, such as the near detector site of the Deep Underground Neutrino Experiment (DUNE).

physics.ins-det↗

arXiv2018

Tests of Gravitational Symmetries with Pulsar Binary J1713+0747

Symmetries play an important role in modern theories of gravity. The strong equivalence principle (SEP) constitutes a collection of gravitational symmetries which are all implemented by general relativity. Alternative theories, however, are generally expected to violate some aspects of SEP. We test three aspects of SEP using observed change rates in the orbital period and eccentricity of binary pulsar J1713+0747: 1. the gravitational constant's constancy as part of locational invariance of gravitation; 2. the post-Newtonian parameter $\hatα_3$ in gravitational Lorentz invariance; 3. the universality of free fall (UFF) for strongly self-gravitating bodies. Based on the pulsar timing result of the combined dataset from the North American Nanohertz Gravitational Observatory (NANOGrav) and the European Pulsar Timing Array (EPTA), we find $\dot{G}/G = (-0.1 \pm 0.9) \times 10^{-12}\,{\rm yr}^{-1}$, which is weaker than Solar system limits, but applies for strongly self-gravitating objects. Furthermore, we obtain the constraints $|Δ|< 0.002$ for the UFF test and $-3\times10^{-20} < \hatα_3 < 4\times10^{-20}$ at 95% confidence. These are the first direct UFF and $\hatα_3$ tests based on pulsar binaries, and they overcome various limitations of previous tests.

astro-ph.HE↗

arXiv2016

Frequency-comb based collinear laser spectroscopy of Be for nuclear structure investigations and many-body QED tests

Absolute transition frequencies of the $2s\,^2{\rm{S}}_{1/2}$ $\rightarrow$ $2p\,^2{\rm{P}}_{1/2,3/2}$ transitions in Be$^+$ were measured with a frequency comb in stable and short-lived isotopes at ISOLDE (CERN) using collinear laser spectroscopy. Quasi-simultaneous measurements in copropagating and counterpropagating geometry were performed to become independent from acceleration voltage determinations for Doppler-shift corrections of the fast ion beam. Isotope shifts and fine structure splittings were obtained from the absolute transition frequencies with accuracies better than 1\,MHz and led to a precise determination of the nuclear charge radii of $^{7,10-12}$Be relative to the stable isotope $^9$Be. Moreover, an accurate determination of the $2p$ fine structure splitting allowed a test of high-precision bound-state QED calculations in the three-electron system. Here, we describe the laser spectroscopic method in detail, including several tests that were carried out to determine or estimate systematic uncertainties. Final values from two experimental runs at ISOLDE are presented and the results are discussed.

physics.atom-ph↗

arXiv2015

Isotope shift of $^{40,42,44,48}$Ca in the $4s\,^2 \rm{S}_{\frac{1}{2}} \rightarrow 4p\,^2\rm{P}_{\frac{3}{2}}$ transition

We report on improved isotope shift measurements of the isotopes $^{40,42,44,48}$Ca in the $4s\,^2 \rm{S}_{\frac{1}{2}} \rightarrow 4p\,^2\rm{P}_{\frac{3}{2}}$ (D2) transition using collinear laser spectroscopy. Accurately known isotope shifts in the $4s\,^2 \rm{S}_{\frac{1}{2}} \rightarrow 4p\,^2\rm{P}_{\frac{1}{2}}$ (D1) transition were used to calibrate the ion beam energy with an uncertainty of $ΔU \approx \pm 0.25$ V. The accuracy in the D2 transition was improved by a factor of $5 - 10$. A King-plot analysis of the two transitions revealed that the field shift factor in the D2 line is about 1.8(13) % larger than in the D1 transition which is ascribed to relativistic contributions of the $4p_{1/2}$ wave function.

physics.atom-ph↗

arXiv2013

Modern Ives-Stilwell Experiments At Storage Rings: Large Boosts Meet High Precision

We give a brief overview of time dilation tests using high-resolution laser spectroscopy at heavy-ion storage rings. We reflect on the various methods used to eliminate the first-order Doppler effect and on the pitfalls encountered, and comment on possible extensions at future facilities providing relativistic heavy ion beams at $γ\gg 1$.

physics.atom-ph↗

arXiv2013

Spins, Electromagnetic Moments, and Isomers of 107-129Cd

The neutron-rich isotopes of cadmium up to the N=82 shell closure have been investigated by high-resolution laser spectroscopy. Deep-UV excitation at 214.5 nm and radioactive-beam bunching provided the required experimental sensitivity. Long-lived isomers are observed in 127Cd and 129Cd for the first time. One essential feature of the spherical shell model is unambiguously confirmed by a linear increase of the 11/2- quadrupole moments. Remarkably, this mechanism is found to act well beyond the h11/2 shell.

nucl-ex↗

arXiv2011

Calibration of the ISOLDE acceleration voltage using a high-precision voltage divider and applying collinear fast beam laser spectroscopy

A high-voltage divider with accuracy at the ppm level and collinear laser spectroscopy were used to calibrate the highvoltage installation at the radioactive ion beam facility ISOLDE at CERN. The accurate knowledge of this voltage is particularly important for collinear laser spectroscopy measurements. Beam velocity measurements using frequencycomb based collinear laser spectroscopy agree with the new calibration. Applying this, one obtains consistent results for isotope shifts of stable magnesium isotopes measured using collinear spectroscopy and laser spectroscopy on laser-cooled ions in a trap. The long-term stability and the transient behavior during recovery from a voltage dropout were investigated for the different power supplies currently applied at ISOLDE.

physics.atom-ph↗

arXiv2010

Nuclear spins, magnetic moments and quadrupole moments of Cu isotopes from N = 28 to N = 46: probes for core polarization effects

Measurements of the ground-state nuclear spins, magnetic and quadrupole moments of the copper isotopes from 61Cu up to 75Cu are reported. The experiments were performed at the ISOLDE facility, using the technique of collinear laser spectroscopy. The trend in the magnetic moments between the N=28 and N=50 shell closures is reasonably reproduced by large-scale shell-model calculations starting from a 56Ni core. The quadrupole moments reveal a strong polarization of the underlying Ni core when the neutron shell is opened, which is however strongly reduced at N=40 due to the parity change between the $pf$ and $g$ orbits. No enhanced core polarization is seen beyond N=40. Deviations between measured and calculated moments are attributed to the softness of the 56Ni core and weakening of the Z=28 and N=28 shell gaps.

nucl-ex↗

arXiv2009

Nuclear Charge Radii of Be-7,9,10 and the one-neutron halo nucleus Be-11

Nuclear charge radii of $^{7,9,10,11}$Be have been determined by high-precision laser spectroscopy. On-line measurements were performed with collinear laser spectroscopy in the $2s_{1/2} \to 2p_{1/2}$ transition on a beam of Be$^{+}$ ions. Collinear and anticollinear laser beams were used simultaneously and the absolute frequency determination using a frequency comb yielded an accuracy in the isotope-shift measurements of about 1 MHz. Combination with accurate calculations of the mass-dependent isotope shifts yield nuclear charge radii. The charge radius decreases from $^7$Be to $^{10}$Be and then increases for the halo nucleus $^{11}$Be. When comparing our results with predictions of {\it ab initio} nuclear structure calculations we find good agreement. Additionally, the nuclear magnetic moment of $^7$Be was determined to be $-1.3995(5)μ_{\rm N}$ and that of $^{11}$Be from a previous $β$-NMR measurement was confirmed.

nucl-ex↗