7 accepted papers
This paper investigates position control and force estimation for a hydraulic folded pouch actuator. First, experimental platforms are designed to characterize the actuator and the results show two key properties: (i) angular hysteresis when the motion direction reverses, and (ii) strong nonlinearit…
Robot-Assisted Surgery is integral to modern minimally invasive procedures, with automation emerging as the next frontier to enhance precision and reduce surgeon fatigue. This evolution is largely impeded by the inherent kinematic inaccuracies of surgical robots, where unreliable internal sensors le…
In recent years, the area of Robot-Assisted Minimally Invasive Surgery (RAMIS) is standing on the the verge of a new wave of innovations. However, autonomy in RAMIS is still in a primitive stage. Therefore, most surgeries still require manual control of the endoscope and the robotic instruments, res…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which account…
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurement…
In the present paper we discuss a novel dynamic controller for Cable Driven Parallel Robots, based on the Backstepping technique. The main challenge in controlling these robots, is expressing the dynamic equilibrium with respect to the joint variables. This drawback makes the definition of closed-lo…
Colonoscopy is the gold standard screening test for colorectal cancer. However, it can miss up to 22% of lesions. One way to reduce this misrate is by guiding the endoscopist's attention towards suspicious areas (red-flagging). In this paper, we present the proof-of-concept of a novel endoscopic ima…