4 accepted papers
To move away from open-heart surgery towards safer transcatheter procedures, there is a growing need for improved imaging techniques and robotic solutions to enable simple, accurate tool navigation. Common imaging modalities, such as fluoroscopy and ultrasound, have limitations that can be overcome
In this paper, we present a fully soft miniaturized continuum robot that integrates 3D optical shape sensing through functionalized tubing used as soft optical waveguides. The sensor is fabricated by laser patterning an off-the-shelf medical tubing, allowing for bidirectional responses to large curv…
Soft optical sensing strategies are rapidly developing for soft robotic systems as a means to increase the controllability of soft compliant robots. In this paper, we present a roughness tuning strategy for the fabrication of soft optical sensors to achieve the dual functionality of shape sensing co…
Colonoscopy is the gold standard for colorectal cancer diagnosis; however, limited instrument dexterity and no sensor feedback can hamper procedure safety and acceptance. We propose a soft robotic sleeve to provide sensor feedback and additional actuation capabilities to improve safety during naviga