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Karun Sharma

2 accepted papers

2020

A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection

Gang Li, Niravkumar A. Patel, Weiqiang Liu, Di Wu, Karun Sharma, Kevin Cleary +2
ICRA 2020poster

This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner b…

Cited by 23Source ↗Scholar ↗
2020

Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies

Gang Li, Niravkumar A. Patel, Yanzhou Wang, Charles Dumoulin, Wolfgang Loew, Olivia Loparo +5
RA-L 2020

This paper reports the improved design, system integration, and initial experimental evaluation of a fully actuated body-mounted robotic system for real-time MRI-guided lower back pain injections. The 6-DOF robot is composed of a 4-DOF needle alignment module and a 2-DOF remotely actuated needle dri

Cited by 19Source ↗Scholar ↗