8 accepted papers
In medical robotics, biological shape deformation resulting from arbitrary tool-tissue interaction commonly occurs and motivates the need in microsurgery to predict the new geometry of tissue structures. However, handling deformation is challenging due to the lack of a general prediction model for v…
Medical robotic laser systems require precise positioning and movements to control laser beam paths associated with sensors and other optical systems in many applications (e.g., laser surgery, laser-based tissue diagnosis). While existing robotic laser beam control systems were developed for microsc…
In microsurgery, surgeons frequently encounter challenges due to the need for exceptional precision and dexterity, the lack of depth perception for micro-scale surgical maneuvers, and the inevitable effects of fatigue and hand tremor. In surgical robotics, conventional intraoperative perception syst
Optical coherence tomography (OCT) has been widely used for high-fidelity biological tissue scanning but is traditionally limited to small lateral fields of view that preclude large-area scanning. To overcome this problem, we propose an integration of an OCT sensor to a 6-DOF robot arm end-effector
In robotic laser surgery, shape prediction of an one-shot ablation crater is an important problem for minimizing errant overcutting of healthy tissue during the course of pathological tissue resection and precise tumor removal. Since it is difficult to physically model the laser-tissue interaction d…
In this paper, we present an autonomous RGB-D and 2D ultrasound-guided robotic system for collecting 3D localized volumes of peripheral vessels. This compact design, with available commercial components, lends itself to platform utility throughout the human body. The fully integrated system works wi…
This paper proposes a stereovision-guided robotic laser system that can conduct laser ablation on targets selected by human operators in the color image, referred as StereoCNC. Two digital cameras are integrated into a previously developed robotic laser system to add a color sensing modality and for…
Laser scalpels are utilized across a variety of surgical and dermatological procedures due to their precision and non-contact nature. This paper presents a novel laser scalpel system for superficial laser therapy applications. The system integrates a RGB-D camera, a 3D triangulation sensor and a car…