7 accepted papers
Surgical robots are usually controlled using a priori models based on the robots’ geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those parameters can change over time, consequently deteriorating contro…
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the nostrils. To avoid injuring the patients, a collision-avoidanc…
The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between instruments and also collisions with the surrounding tissues. Surgical robots have been shown to be effective in adult laparosco
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurg…
Minimally Invasive Surgery (MIS) is one of the most successful applications of surgical robots. Although the introduction of robotic technology has brought a number of benefits, further advancements in MIS are limited by the size and bending radius of instruments. In this paper, we present a complia…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspace is constrained. In these conditions, the vision of surgeons is restricted to areas near the surgical tool tips, which…
The authors have investigated a construction methodology for a non-invasive ultrasound theragnostic system, called NIUTS, to track and follow moving body targets, such as tumors / stones located in moving organs (kidneys, livers, etc.), robustly and precisely, so as to compensate for nearly 90 perce…