7 accepted papers
Transcranial magnetic stimulation is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience, neurology research, and clinical practice. Compared to manual operators, robots may improve the outcome due to their superior accuracy and repeatability. Howe
This paper presents the development and experimental evaluation of an active steering hand-held robotic system for milling and curved drilling in minimally invasive orthopaedic interventions. The system comprises a cable-driven continuum dexterous manipulator (CDM), an actuation unit with a handpiec
Learning robust policies for robotic systems operating in presence of uncertainty is a challenging task. For safe navigation, in addition to the natural stochasticity of the environment and vehicle dynamics, the perception uncertainty associated with dynamic entities, e.g. pedestrians, must be accou…
Flexible medical instruments, such as Continuum Dexterous Manipulators (CDM), constitute an important class of tools for minimally invasive surgery. Accurate CDM shape reconstruction during surgery is of great importance, yet a challenging task. Fiber Bragg grating (FBG) sensors have demonstrated gr…
Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands for shape sensing methods which do not rely on direct line o…
In conventional core decompression of osteonecrosis, surgeons cannot successfully reach the whole area of the femoral head due to rigidity of the instruments currently used. To address this issue, we present design and fabrication of a novel steerable drill using a continuum dexterous manipulator (C
This paper focuses on the design and quantitative characterization of a debriding tool integrated with a robotic system to treat osteolysis (bone degradation). Osteolysis typically occurs due to wear of the polyethylene liner of the acetabular implant after total hip replacement surgery. In less inv