4 accepted papers
In this paper, a novel semi-autonomous control framework is presented for enabling probe-based confocal laser endomicroscopy (pCLE) scan of the retinal tissue. With pCLE, retinal layers such as nerve fiber layer (NFL) and retinal ganglion cell (RGC) can be scanned and characterized in real-time for…
During open surgeries, surgeons use tactile palpation to form an understanding of the anatomy, including any underlying anatomical structures such as arteries or tumors. This letter explores methods for restoring this capability in the context of minimally invasive robot-assisted surgery. Previous w
Surgeons often manually palpate tissue or organs in order to find tumors or other anatomical structures. Information about organ geometry and tissue stiffness gained from palpation can also be extremely useful in robotic surgery for diagnosis, surgical guidance, and registration to other preoperativ
Suturing is a challenging and highly dexterous task in minimally invasive surgery, even with the assistance of robotic surgical systems. In this work, we propose a simple yet versatile impedance virtual fixture framework, which can be applied on the master manipulator in a tele-operated robotic surg…