7 accepted papers
Open Spina Bifida (OSB) is a congenital neural tube defect where a major component of the procedure to repair the defect involves the closure of a lesion wound through suturing. For a minimally invasive approach, tools entering the uterus to access the fetus should be as thin as possible to minimize…
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…
This paper presents a dynamic constraint formulation to provide protective virtual fixtures of 3D anatomical structures from polygon mesh representations. The proposed approach can anisotropically limit the tool motion of surgical robots without any assumption of the local anatomical shape close to…
During the last two decades, minimally invasive surgery (MIS) has become popular because it offers advantages such as less pain, faster recovery, improved cosmesis, and reduced complications. Single-port laparoscopic surgery is a form of MIS where surgeons operate exclusively through a single entry.…
This paper presents a minimally invasive ultrasonic bone cutting tool designed for the da Vinci® research kit (dVRK). An ultrasonic transducer is modelled using finite element software, and correlated with testing results using an impedance analyzer. A multi-objective genetic algorithm is then used…
One of the major problems facing the development and road to practical usage of concentric tube continuum robots in surgical environments is that of instability. This issue, also known as the snapping problem, is caused by a tube having a high bending to torsional stiffness ratio (BTSR). Past effort…
In clinical practice, magnetic resonance imaging (MRI) is used to locate a lesion/tumor for bone biopsy in children. However, there is a lack of MR-compatible tools that can be used simultaneously during imaging and biopsy while maintaining surgical accuracy and safety. The Pediatric Surgery Robot (…