7 accepted papers
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of FBGs inside the fiber and their alignments with the flexible r…
The sampling-based motion planners, including the Rapidly-exploring Random Trees (RRT) algorithms, are widely utilized in continuum robots, enabling efficient search for feasible motion plans in constrained environments. In surgical robotics, complex mapping among the high-dimensional kinematics of
Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This letter will focus on the motion generation and open-loop control o
A neurosurgical robot with 3-dimensional (3D) distal manipulation can increase instrument workspace for reaching peripheral regions of intracranial lesions to achieve complete lesion removal and minimal brain manipulation in a keyhole procedure. In this work, we designed a Nitinol-based symmetricall
Multi-segment continuum robots, that offer inherent compliance and distal dexterity, are suitable for deployment in minimally invasive surgical procedures. Cable-driven mechanism is commonly used in continuum surgical robots but could lead to inter-segment motion coupling in a multi-segment robot. I…
Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject to external interaction, potentially leading to poor control performance. In this letter, we investigate the feasibility
Pericardiocentesis is the drainage of excessive fluid in the pericardium surrounding the heart under ultrasound guidance. The percutaneous procedure comes with the risk of cardiac perforation since the needle is inserted towards the beating heart. This letter presents a novel percutaneous robot that