3 accepted papers
Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this work, we designed a module for single knob actuation assembled coaxially on the catheter ha
In this letter, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE uses a parallel, motor-spring-based solution to precisely generate constant operating forces over a wide range and enable the ultrasound (US) probe to adapt to th
Measuring forces and torques applied to tools of unconventional shapes can be challenging due to difficulties in connecting commercially available force/torque sensors. We propose an innovative, customizable six-axis force/torque sensor which can be clamped around a tool or end-effector to minimize…