6 accepted papers
Severe chronic pulmonary endarterectomy needs a dissector to delicately remove proliferative intima located in the depth of the pulmonary artery. This work proposed a novel endoscopic robotized steerable dissector for this surgery, enabling easier access to curved deep artery branches. The handheld…
Complex pipeline network should be inspected regularly for safety. In general, these tasks are often completed by large pipe-climbing robots or customized equipment. Most of them are not effective, and cannot work on pipes with uncertain barriers. Moreover, some pipes are mounted in constrained scen…
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to surgeons, especially during the tedious wound closure task. I…
This paper presents a model-free approach to automate folding of a deformable object with robot manipulators, where its surface was labelled with markers to facilitate vision-based control and alignment. While performing the task involves solving nonconvex or nonlinear terms, in this paper, lineariz…
The ability to patterning cells is an important technique to facilitate cell-based assay and characterization. In this paper, an automated cell patterning system was developed for the fabrication of large-scale cell patterns. To resolve the challenge of the limited printable area, the cell-printing…
Robot assisted surgery has become increasingly popular with the rapid development of more sophisticated robotic systems. Nevertheless, there are still many tedious surgical tasks that remain to be performed manually by surgeons with high supervisions. One example is to tie a surgical knot during the…