5 accepted papers
This paper presents a free-space open-loop dynamic response analysis for an MRI -guided magnetically-actuated steerable intra-vascular catheter system. The catheter tip is embedded with a set of current carrying micro-coils. The catheter is directly actuated via the magnetic torques generated on the…
This paper presents algorithms for three-dimensional tracking of surgical needles using the stereo endoscopic camera images obtained from the da Vinci® Surgical Robotic System. The proposed method employs Bayesian state estimation, computer vision techniques, and robot kinematics. A virtual needle r…
The recent introduction of Magnetic Resonance Imaging (MRI)-actuated steerable catheters lays the ground work for increasing the efficacy of cardiac catheter procedures. The MRI, while capable of imaging the catheter for tracking and control, does not fulfill all of the needs required to identify an
Robotically Assisted Minimally Invasive Surgery (RAMIS) offers many advantages over manual surgical techniques. Most of the limitations of RAMIS stem from its nonintuitive user interface and costs. One way to mitigate some of the limitations is to automate surgical subtasks (e.g. suturing) such that…
In order to realize many of the potential benefits associated with robotically assisted minimally invasive surgery, the robot must be more than a remote controlled device. Currently using a surgical robot can be challenging, fatiguing, and time consuming. Teaching the robot to actively assist surgic…