8 accepted papers
Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and deformation, and therefore require aut…
Robot teleoperation has been studied for the past 70 years and is relevant in many contexts, such as in the handling of hazardous materials and telesurgery. The COVID19 pandemic has rekindled interest in this topic, but the existing robotic education kits fall short of being suitable for teleoperate…
Vitreoretinal surgery pertains to the treatment of delicate tissues on the fundus of the eye using thin instruments. Surgeons frequently rotate the eye during surgery, which is called orbital manipulation, to observe regions around the fundus without moving the patient. In this paper, we propose the…
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…
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…