16 accepted papers
Small-scale robots are rapidly advancing in diverse fields such as industry and medicine. To be effective, they must be capable of accessing narrow, tortuous, or otherwise hard-to-reach environments and performing precise manipulation. This paper presents a vision-based closed-loop motion control sc…
Augmented Reality (AR)-assisted telesurgery has proven its effectiveness in enhancing situational awareness for clinician-side teleoperators. However, for patient-side surgical assistants, existing systems lack intuitive and safe interaction strategies to mitigate preoperative infection risks and in
Continuum robots are widely used in the medical scenarios due to their dexterity and flexibility. However, precise end-to-end control of continuum robots remains challenging, limited by the kinematic or kinetostatic accuracy and no enough space for additional sensors configurations. This paper propo
Continuum robots are being increasingly used in minimally invasive surgery because of their high dexterity. Most studies have adopted the redundancy approach–increase the number of actuation Degrees of Freedom (DOFs)–to improve the performance of robots. However, a continuum robot with a large numbe
Traditional interaction perception of parallel robots relies on a six-dimensional force sensor for contact sensing at their distal end. However, the sensor body occupies the space of moving platform and also increases the load on the robot actuations. To enable both minimization and embodied intelli…
Percutaneous coronary intervention (PCI) involves the delivery of a flexible submillimeter guidewire and existing x- ray based approaches impose significant ironing radiation. The use of magnetic resonance imaging (MRI) for intraoperative guidance has the advantages of not only being safe but also h…
Tip force sensing for cable-driven continuum robots are vital to provide the force information for safe and reliable human-robot interaction. However, traditional triaxial force sensors usually have a complicated structure occupying its inner lumen, without enough space for additional instrumental t…
Cable-driven continuum manipulators have shown excellent benefits to work for endoluminal intervention. Demand of small diameter for confined anatomy limits the usage of multiple actuations, leading to limited DOFs and bending shapes. To address this problem, this letter proposes a multi-contact-aid
MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentri…
Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal thera…
Master-Slave control is commonly used for RobotAssisted Minimally Invasive Surgery (RAMIS). The configuration, as well as the placement of the master manipulators, can influence the remote control performance. An ergonomic shared workspace analysis framework is proposed in this letter. Combined with
The assessment of microsurgical skills for Robot-Assisted Microsurgery (RAMS) still relies primarily on subjective observations and expert opinions. A general and automated evaluation method is desirable. Deep neural networks can be used for skill assessment through raw kinematic data, which has the
Accurate force sensing is important for endoluminal intervention in terms of both safety and lesion targeting. This paper develops an FBG-based force sensor for robotic bronchoscopy by configuring three FBG sensors at the lateral side of a conical substrate. It allows a large and eccentric inner lum…
Electrical isolation using the ablation catheter has been widely used as the golden standard for the treatment of atrial fibrillation. Clinical practice shows that the tip orientation affects the formation of the effective lesion size. However, the traditional unidirectional or bidirectional cathete
Lesions of the lateral skull base in the petrous apex present unique surgical challenges because of the proximity of critical structures, including the inner ear, carotid artery, jugular bulb, facial nerve, lower cranial nerves, dura and brain. Currently, there are few appropriate surgical devices t
S shape dexterous continuum manipulators (DCMs) are preferred in minimally invasive surgeries for better steerability towards a target and obstacles avoidance capability. Current ways of realizing S shapes need to combine multi-bending segments which need to control the different segment separately.…