8 accepted papers
As one of the effective closed-loop control methods, visual servoing control methods are widely applied to continuum robots. However, existing visual servoing control methods mostly focus on accurate control of the robot’s end-effector, with less consideration given to the robot’s shape. In this wor
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like artifacts, and low image resolution complicate robust needle detection, which is essential for alignment in ultrasound imag
Flexible endoscopes are commonly adopted in narrow and confined anatomical cavities due to their higher reachability and dexterity. However, prolonged and unintuitive manipulation of these endoscopes leads to an increased workload on surgeons and risks of collision. To address these challenges, this
The rigid and straight nature of conventional surgical drills and screwdrivers makes it difficult to access the posterior mandible for fracture reduction without the creation of facial incisions. To assist transoral mandibular fracture reduction in hard-to-reach areas, we propose a shared-control de…
Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes, and demands for millimeter-level control. Prior works, heavily relying on the prior of needles (e.g., geometric models),…
Existing robotic endoscopes for laparoscopic surgery, predominantly rigid or limited in dexterity, occupy a large motion space1, The large occupied motion space necessitates large incisions and reduces the motion space for surgeons to simultaneously operate other surgical instruments. Meanwhile, sur…
In this letter, we propose a unified framework to address underactuated orientation control problems of the tailed robot in flight phase through a 2 DoFs actuated tail. We approach the underactuated control problem from the perspective of an inverse problem of an over-constrained Jacobian matrix. Th
Organ retraction is a common and important task in minimally invasive surgery. It is a surgical technique to push aside or manipulate tissues/organs to improve the access and visualization of the surgical sites. Typical manual retractors are rigid and without any articulation. Physicians often strug