7 accepted papers
Soft optical sensors hold potential for enhancing minimally invasive procedures like colonoscopy, yet their complex, multi-modal responses pose significant challenges. This work introduces a machine learning (ML) framework for real-time estimation of 3D shape and contact force in a soft robotic slee
Soft optical sensors hold potential for enhancing minimally invasive procedures like colonoscopy, yet their complex, multi-modal responses pose significant challenges. This work introduces a machine learning (ML) framework for real-time estimation of 3D shape and contact force in a soft robotic slee…
This paper presents a proof-of-concept soft robotic glove that provides haptic feedback to the surgeon's hand during interventional endoscopy procedures, specifically colonoscopy. The glove is connected to a force sensing soft robotic sleeve that is mounted onto a colonoscope. The glove consists of…
Colonoscopy is the gold standard for colorectal cancer diagnosis; however, limited instrument dexterity and no sensor feedback can hamper procedure safety and acceptance. We propose a soft robotic sleeve to provide sensor feedback and additional actuation capabilities to improve safety during naviga
Modular robotic systems that integrate distally with commercially available endoscopic equipment have the potential to improve the standard-of-care in therapeutic endoscopy by granting clinicians with capabilities not present in commercial tools, such as precision dexterity and feedback sensing. Wit
Nascent endoscopic therapeutic procedures, such as endoscopic submucosal dissection, enable unparalleled access to and removal of mid-size cancerous neoplasia from within the gastrointestinal tract. However, the remote locations of these lesions often incur substantial distal dexterity which imparts…
Burgeoning transendoscopic procedures, such as endoscopic submucosal dissection (ESD), provide a promising means of treating early-stage gastric neoplasia in a minimally-invasive way. However, the remote locations of these lesions, coupled with their origination in the submucosal layers of the gastr