6 accepted papers
Knowledge of the tip contact force in continuum robots, which are often used as medical instruments, is critical for clinical applications. It enhances the interventionalist's decision-making, navigation efficiency, and procedural safety. However, accurately determining the tip contact force in conv
Dexterity is demanded for an endoscopic tool to handle complicated procedures in neurosurgery, e.g., removing diseased tissue from inside the deep brain along a tortuous path. Current robotic tools are either rigid or lack wristed motion ability at the tip, leading to limited usage in minimally inva…
A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In practice, the surgeon relies on depth-estimation skills to…
Retinal vein cannulation is a promising approach for treating retinal vein occlusion that involves injecting medicine into the occluded vessel to dissolve the clot. The approach remains largely unexploited clinically due to surgeon limitations in detecting interaction forces between surgical tools a…
One of the significant challenges of moving from manual to robot-assisted retinal surgery is the loss of perception of forces applied to the sclera (sclera forces) by the surgical tools. This damping of force feedback is primarily due to the stiffness and inertia of the robot. The diminished percept…
Retinal microsurgery is technically demanding and requires high surgical skill with very little room for manipulation error. During surgery the tool needs to be inserted into the eyeball while maintaining constant contact with the sclera. Any unexpected manipulation could cause extreme tool-sclera c…