Kawal Rhode — accepted AI-conference papers

2023

Design and Development of a Novel Force-Sensing Robotic System for the Transseptal Puncture in Left Atrial Catheter Ablation

Aya Mutaz Zeidan, Zhouyang Xu, Christopher E. Mower, Honglei Wu, Quentin Walker, Oyinkansola Ayoade +7

ICRA 2023poster

Transseptal puncture (TSP) is a prerequisite for left atrial catheter ablation for atrial fibrillation, requiring access from the right side of the heart. It is a demanding procedural step associated with complications, including inadvertent puncturing and application of large forces on the tissue w…

Cited by 4 Source ↗Scholar ↗

2019

A2-piece six-axis force/torque sensor capable of measuring loads applied to tools of complex shapes

Yohan Noh, Lukas Lindenroth, Shuangyi Wang, Richard James Housden, Anne-Sophie van Wingerden, Wanlin Li +1

IROS 2019poster

Measuring forces and torques applied to tools of unconventional shapes can be challenging due to difficulties in connecting commercially available force/torque sensors. We propose an innovative, customizable six-axis force/torque sensor which can be clamped around a tool or end-effector to minimize…

Cited by 16 Source ↗Scholar ↗

2017

Design of a soft, parallel end-effector applied to robot-guided ultrasound interventions

Lukas Lindenroth, Avinash Soor, Jack Hutchinson, Amber Shafi, Junghwan Back, Kawal Rhode +1

IROS 2017poster

Medical ultrasound imaging robotics systems often comprise of complex control architectures and hardware integration to enable safe human robot interaction. In this paper, we investigate the applicability of a soft robotic end-effector for ultrasound intervention. A novel, parallel design is derived…

Cited by 33 Source ↗Scholar ↗

2017

Intrinsic force sensing capabilities in compliant robots comprising hydraulic actuation

Lukas Lindenroth, Christian Duriez, Junghwan Back, Kawal Rhode, Hongbin Liu

IROS 2017poster

Knowledge of externally applied forces is crucial for compliant robotic manipulators in minimally-invasive and endoluminal robotic surgery for both patient safety and controllability of the device. We developed a novel continuum manipulator which comprises hydraulic actuation. In this work we invest…

Cited by 18 Source ↗Scholar ↗

2016

A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam

Yohan Noh, Joao Bimbo, Agostino Stilli, Helge Wurdemann, Hongbin Liu, James Housden +2

IROS 2016poster

This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes u…

Cited by 7 Source ↗Scholar ↗

2016

New kinematic multi-section model for catheter contact force estimation and steering

Junghwan Back, Lukas Lindenroth, Rashed Karim, Kaspar Althoefer, Kawal Rhode, Hongbin Liu

IROS 2016poster

Contact force play is a significant role in success of the cardiac ablation. However, it is still challenging to estimate contact force when a catheter is under large bending and multiple contacts. This paper develops a new multi-section static model of the tendon-driven catheters for both real-time…

Cited by 38 Source ↗Scholar ↗

2015

Catheter contact force estimation from shape detection using a real-time Cosserat rod model

Junghwan Back, Thomas Manwell, Rashed Karim, Kawal Rhode, Kaspar Althoefer, Hongbin Liu

IROS 2015poster

This paper proposes a novel Cosserat rod model based method to estimate contact forces based on the shape analysis of the catheter. We simplify the original Cosserat rod model to achieve real-time estimation of the force magnitude and directions applied to the catheter tip. The simplified model cont…

Cited by 58 Source ↗Scholar ↗