AIConfPaper
← Search

Jianzhong Shang

8 accepted papers

2018

Rolling-Joint Design Optimization for Tendon Driven Snake-Like Surgical Robots

Pierre Berthet-Rayne, Konrad Leibrandt, Kiyoung Kim, Carlo A. Seneci, Jianzhong Shang, Guang-Zhong Yang
IROS 2018poster

The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot u…

Cited by 34Source ↗Scholar ↗
2017

3D printing of improved needle grasping instrument for flexible robotic surgery

Carlo A. Seneci, Gauthier Gras, Piyamate Wisanuvej, Jianzhong Shang, Guang-Zhong Yang
IROS 2017poster

Suturing is an essential requirement for surgical robots. Current designs of needle drivers require significant forces to be applied so that the needle will not flip or slip between the jaws when inserted into the tissue. The required force implies that most designs are based on rigid instruments wi…

Cited by 6Source ↗Scholar ↗
2017

A Single-Port Robotic System for Transanal Microsurgery - Design and Validation

Jianzhong Shang, Konrad Leibrandt, Petros Giataganas, Valentina Vitiello, Carlo A. Seneci, Piyamate Wisanuvej +5
RA-L 2017

This letter introduces a single-port robotic platform for transanal endoscopic microsurgery (TEMS). Two robotically controlled articulated surgical instruments are inserted via a transanal approach to perform submucosal or full-thickness dissection. This system is intended to replace the conventiona

Cited by 57Source ↗Scholar ↗
2017

Effective Manipulation in Confined Spaces of Highly Articulated Robotic Instruments for Single Access Surgery

Konrad Leibrandt, Piyamate Wisanuvej, Gauthier Gras, Jianzhong Shang, Carlo A. Seneci, Petros Giataganas +3
RA-L 2017

The field of robotic surgery increasingly advances towards highly articulated and continuum robots, requiring new kinematic strategies to enable users to perform dexterous manipulation in confined workspaces. This development is driven by surgical interventions accessing the surgical workspace throu

Cited by 40Source ↗Scholar ↗
2017

Implicit gaze-assisted adaptive motion scaling for highly articulated instrument manipulation

Gauthier Gras, Konrad Leibrandt, Piyamate Wisanuvej, Petros Giataganas, Carlo A. Seneci, Menglong Ye +2
ICRA 2017poster

Traditional robotic surgical systems rely entirely on robotic arms to triangulate articulated instruments inside the human anatomy. This configuration can be ill-suited for working in tight spaces or during single access approaches, where little to no triangulation between the instrument shafts is p…

Cited by 18Source ↗Scholar ↗
2016

Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity

Carlo A. Seneci, Konrad Leibrandt, Piyamate Wisanuvej, Jianzhong Shang, Ara Darzi, Guang-Zhong Yang
IROS 2016poster

This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of compo…

Cited by 12Source ↗Scholar ↗
2015

Kinematics, stiffness and natural frequency of a redundantly actuated masticatory robot constrained by two point-contact higher kinematic pairs

Chen Cheng, Weiliang Xu, Jianzhong Shang
IROS 2015poster

This paper presents kinematics and two dynamic characteristics including stiffness and natural frequency of a four degrees-of-freedom (DOFs) masticatory robot. Based on the biological architecture of human masticatory system, this robot is modeled in the form of a redundantly actuated parallel mecha…

Cited by 14Source ↗Scholar ↗
2015

Rapid manufacturing with selective laser melting for robotic surgical tools: Design and process considerations

Carlo A. Seneci, Jianzhong Shang, Ara Darzi, Guang-Zhong Yang
IROS 2015poster

Additive manufacturing is a technology in constant evolution. It is able to produce objects otherwise either impractical or unfavorable for traditional manufacturing technologies, especially in relatively limited quantities. The advancement of Selective Laser Melting (SLM) has made it possible to ma…

Cited by 12Source ↗Scholar ↗