3 accepted papers
This letter reports the development of a vision-based calibration method for dual remote center-of-motion (RCM) based robot arms in a human-robot collaborative minimally invasive surgery (MIS) scenario. The method does not require any external tracking sensors and directly uses images captured by th
Robotic-assisted catheter insertion is becoming increasingly popular due to its potential applications including cardiac catheterization. Typically, catheters are tracked during insertion procedures to verify the location of the tip relative to anatomy or features of interest. To this end, many cath…
We are investigating the use of photoacoustic (PA) imaging to detect critical structures, such as the carotid artery, that may be located behind the bone being drilled during robot-assisted endonasal transsphenoidal surgery. In this system, the laser is mounted on the drill (via an optical fiber) an…