47 accepted papers
Communication latency in long-distance telerobotic surgery poses a critical safety risk, particularly in high-precision procedures like retinal surgery where tool overshoots can cause irreversible patient injury. This paper introduces the Latency-Aware Telemonitoring for Injection in Ophthalmic Surg…
In motion planning, efficiently navigating from a start state to a goal state in spaces with narrow passages remains a significant challenge. Recently, learning-based methods have attracted considerable attention owing to their higher inference speeds compared to traditional approaches. However, the
A number of recent studies have focused on developing surgical simulation platforms to train machine learning (ML) agents or models with synthetic data for surgical assistance. While existing platforms excel at tasks such as rigid body manipulation and soft body deformation, they struggle to simulat
The rise of Large Language Models (LLMs) has impacted research in robotics and automation. While progress has been made in integrating LLMs into general robotics tasks, a noticeable void persists in their adoption in more specific domains such as surgery, where critical factors such as reasoning, ex
This paper presents a three-dimensional (3D) control framework for bevel-tip steerable needles that combines model predictive control (MPC) with hierarchical supervisory logic. The MPC layer uses a reduced-order two-mode switching model to generate the desired control actions, while the supervisory
Mobility impairments, particularly those caused by stroke-induced hemiparesis, significantly impact independence and quality of life. Current smart walker controllers operate by using input forces from the user to control linear motion and input torques to dictate rotational movement; however, becau
One of the most common cancers among women is breast cancer which can be treated surgically in the early stages with a lumpectomy technique. In the context of breast lumpectomy procedures, accurately tracking tumours presents a critical challenge worsened by various sources of anatomical deformation…
Recent applications of deep reinforcement learning (DRL) in surgical autonomy have shown promising results in automating various surgical sub-tasks. While most of these studies consider the rigid and soft body dynamics in the surgery such as tissue deformation, only a few have investigated the situa
In the field of human-robot interaction, surface electromyography (sEMG) provides a valuable tool for measuring active muscular effort. While numerous studies have investigated real-time control of upper extremity exoskeletons based on user intention and task-specific movements, the prediction of bo
Gait asymmetry, a consequence of various neurological or physical conditions such as aging and stroke, detrimentally impacts bipedal locomotion, causing biomechanical alterations, increasing the risk of falls and reducing quality of life. Addressing this critical issue, this paper introduces a novel…
This paper introduces a novel hybrid torque allocation method for improving wearability and mobility in integrated functional electrical stimulation (FES) of the quadriceps muscles and powered exoskeleton systems. Our proposed approach leverages a hierarchical closed-loop controller for knee joint p…
Learning from demonstrations is the paradigm where robots acquire new skills demonstrated by an expert and alleviate the physical burden on experts to perform repetitive tasks. Ultrasound scanning is one of the ways to view the anatomical structures of soft tissues, but it is repetitive for some tis…
This paper introduces intelligent central pattern generators (iCPGs) that can plan personalized walking trajectories for lower-limb exoskeletons. This can make walking more comfortable for the users by resolving one of the significant shortcomings of most commercially available exoskeletons, which i…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although challenging due to complex tissue dynamics, automating the task can p
In this study, we present an intuitive machine learning-based approach to evaluate and interpret surgical skills level of a participant working with robotic platforms. The proposed method is domain-adapted, i.e., jointly utilizes an end-to-end learning approach for smoothness detection and domain kn
Ultrasound (US) imaging is a common but physically demanding task in the medical field, and sonographers may need to put in considerable physical effort for producing high-quality US images. During physical human-robot interaction on US imaging, robot compliance is a critical feature that can ensure…
Robot-assisted arthroscopic surgery is transforming the tradition in orthopaedic surgery. Compliance and stability are essential features that a surgical robot must have for safe physical human-robot interaction (PHRI). Surgical tools attached at the robot end-effector and human-robot interaction wi…
During the COVID-19 pandemic, due to the unprecedented workload and cross-infection hazard, the health-care workers’ lives are under a significant threat. However, minimizing the duration and frequency of close clinician-to-patient contacts using simple technologies that enable physical distancing c…
In this letter, a new adaptable gait trajectory shaping method is proposed for lower-limb exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized across different joints and updated online in response to the human users' physical behavior to enhance their safety and c
Due to the high sensitivity and complexity of robotic surgery tasks, acquiring appropriate skill levels by trainee surgeons through an effective training process is very important and affects the patient’s safety and the quality of surgical outcomes. With the advanced deep learning technology and th…
This letter puts forward a novel controller for joint position tracking of bilateral teleoperation systems subjected simultaneously to time-varying communication delays and bounded actuation. Enhancing such systems' robustness to the larger time delays comes prevalently at the cost of increased sett
Human-robot collaboration (HRC) significantly extends robotic systems’ applications when working in spaces like houses, hospitals, or laboratories. However, new challenges appear during a close collaboration between humans and robots and imitating the movement of humans by robots. Learning from demo…
In this letter, an integrated control strategy is developed for both locomotion trajectory planning and postural stability, enabling shared autonomy between the human and lower-limb exoskeleton. Divergent component of motion (DCM) analysis was employed previously based on the linear inverted pendulu
In this paper, we propose a robotic ultrasound imaging method that scans the breast in two separate phases to acquire high-quality ultrasound images. Our proposed system controls five Degrees of Freedom (DoFs) of the robot that hold an ultrasound probe to perform precise scanning. This system finds…
With the increasing applications of wheeled mobile manipulators (WMMs), new challenges have arisen in terms of executing high-force tasks while maintaining precise trajectory tracking. A WMM, which consists of a manipulator mounted on a mobile base, is often a kinematically redundant robot. The exis
In this paper, a new remote center of motion (RCM) mechanism is presented whose end-effector is able to move through an entire hemisphere. In general, minimally invasive surgery (MIS) applications, an elliptic cone workspace with vertex angles of 60° and 90° gives the surgeon enough freedom to opera…
Haptic-enabled teleoperated surgical systems have the potential to enhance the accuracy and performance of surgical interventions. The user interface of such a system can provide haptic feedback to the surgeon to more intuitively perform surgical tasks. In this letter, we study the added benefits of
Serious games are recently becoming a common sight in rehabilitation settings to provide motivation for patients undergoing therapy to regain upper limb function after disability. These are often presented using a two-dimensional (2-D) monitor to the patient who uses a robotic device (haptic user in
Due to the limitations of therapists time and healthcare resources to cover the increasing demand for rehabilitation services, robot-assisted rehabilitation is becoming an appealing, powerful and economical solution. In our previous research, a solution that combines Learning from Demonstration (LfD…
Needle insertion is a minimally invasive medical procedure commonly used for biopsy, ablation, or deposition of therapeutic agents. In prostate brachytherapy, needles are inserted into the prostate in order to deposit multiple rice-grain-sized radioactive seeds to eradicate cancerous tissue from clo
Needle insertion is a minimally invasive procedure finding applications in biopsy, ablation, drug delivery, and cancer therapy. Prostate brachytherapy is a therapeutic procedure where radioactive agents are implanted within the prostate using long needles for the purpose of cancer irradiation. Durin
Needle deflection during certain minimally invasive percutaneous procedures, such as prostate biopsy or brachytherapy, is undesired and can be reduced through the use of feedback control. This letter uses a depth-dependent reduced-order three-dimensional (3-D) nonholonomic model of needle tip motion
In recent years, demand for robot-assisted rehabilitation has increased due to the rising number of elderly and disabled people. Rehabilitation robots help patients to enhance muscle strength and recover motor functions, typically through practicing reaching movements. In this letter, we are interes
In this letter, we present a model for needle deflection estimation in soft tissue. The needle is modelled as a vibrating compliant cantilever beam that experiences forces applied by the tissue as it is inserted. Each of the assumed vibration modes are associated with a weighting coefficient whose m
Operating on a beating heart would offer many benefits to patients. The risks associated with heart-lung machines used in arrested-heart surgery would be eliminated and the effectiveness of reconstructive procedures could be judged immediately. However, the heart's fast beating motions make operatin
In percutaneous needle insertions, cutting forces at the needle tip deflect the needle and increases targeting error. Thus, modeling needle-tissue interaction in biological tissue is essential for accurate robotics-assisted needle steering. In this letter, dynamics of needle tip interaction with inh
Brachytherapy is a cancer treatment procedure where long needles are inserted toward an inner body target in order to deliver radioactive seeds that treat the cancer cells. Controlling the trajectory of the needle is very challenging as it deviates from a straight path during insertion. In this lett
This letter represents a sliding-based controller for steering beveled-tip needles to stationary locations in soft tissue in a 2-D environment by performing appropriate switches of bevel orientation by 180° axial rotations while the needle is being inserted. Assuming the rotation velocity to be larg
With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have emerged in terms of designing its teleoperation system. One of such challenges is caused by wheel slippage and another is due to the strict need for ensuring WMR safety. This letter proposes a new tri
Despite recent advances to improve transparency of teleoperation systems, certain tasks remain difficult and time-consuming when performed via teleoperation. Operators are often required to perform tasks involving multiple degrees-of-freedom (DOFs) requiring great dexterity. To be fully adopted, the
This paper introduces an automatic method to visualize 3D needle shapes for reliable assessment of needle placement during needle insertion procedures. Based on partial observations of the needle within a small sample of 2D transverse ultrasound images, the 3D shape of the entire needle is reconstru…
In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle-based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model…
In this paper, a new passivity-based technique is proposed to analyze and guarantee the stability of haptics-enabled telerobotic rehabilitation systems where there is a possibility of having more sources of non-passivity than communication delays. In practice, the difficulty of therapeutic exercises…
A tissue-independent model to estimate needle deflection during insertion in soft tissue is presented in this paper. A force/torque sensor is connected to the needle base in order to measure forces and moments during insertion due to needle deflection. A static mechanical model, which is based on th…
This paper represents an extension to the kinematic bicycle model for beveled-tip needle motion in soft tissue, which accounts for non-constant curvature paths for the needle tip. For a tissue that is not stiff relative to the needle, the tissue deformation caused by needle insertion deviates the ne…
We propose a method to estimate the entire shape of a long flexible needle, suitable for a needle insertion assistant robot. This method bases its prediction on only a small segment of a needle, imaged via ultrasound, after insertion. An algorithm is developed that can segment a needle observed part…
This paper presents a Therapist-in-the-Loop (TIL) framework for robotics-assisted mirror rehabilitation therapy integrated with adaptive Assist-as-Needed (ANN) training, to be adjusted based on the impairment and disability level of the patient's affected limb. Closed-loop system stability has been…