8 accepted papers
Continuum surgical robots can navigate anatomical pathways to reach pathological locations deep inside the human body. Their flexibility, however, generally comes with reduced dexterity at their tip and limited workspace. Building on recent work on eccentric tube robots, this paper proposes a new co…
"This work considers supervised contrastive learning for semantic segmentation. We apply contrastive learning to enhance the discriminative power of the multi-scale features extracted by semantic segmentation networks. Our key methodological insight is to leverage samples from the feature spaces ema…
Concentric tube robots (CTRs) are catheter-like robots that can navigate anatomical lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasi-static conditions, unique robot behaviours such as hysteresis and snapping, i.e. the sudden release of
This letter introduces a novel 7 Degree Of Freedom (DOF) cable-driven haptic device based on the concept of a configurable cable platform. In the proposed concept, a 1-DOF pinch grasping capability is provided via a network of ten passive cables kept in tension. The coordinated action on the cable p
This article presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic intracranial pressure on the optic disc via an in
Concentric tube robots (CTR) can traverse tightly curved paths and offer dexterity in constrained environments, making them advantageous for minimally invasive surgical scenarios that experience strict anatomical and surgical constraints. Their shape is controlled via rotation and translation of sev…
The enhanced dexterity and manipulability offered by continuum manipulators makes them the robots of choice for complex procedures inside the human body. However, without tailored analytical tools to evaluate their manipulability, many capabilities of continuum robots such as safe and effective mani…
Despite several robots having been proposed for vitreoretinal surgery, there is limited information on their dynamic modeling. This gap leads to sub-optimal motor selection and hinders the application of advanced control schemes that would fulfill the goal of micro-precise surgery. This paper presen…