7 accepted papers
Transcatheter tricuspid valve replacement (TTVR) has emerged as a promising minimally invasive procedure for treating severe tricuspid regurgitation (TR). However, accurate catheter delivery remains a significant challenge, primarily due to the reliance on 2D vision feedback, complex catheter kinema
Ultrasound (US) imaging of the carotid artery (CA) is a non-invasive diagnostic tool widely used in the medical field to assess the condition of the carotid artery, thereby predicting the risk of cardiovascular and cerebrovascular diseases. However, implementing this method in primary healthcare can…
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, a new 3-D electromagnetic position sensing method is proposed for localization of continuum medical robots. An electromagnet and magnetic sensors are placed outside the human body while only a piece of passive mu-metal with high magnetic permeability is attached to the robot moving i
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
Standardized acquisitions and diagnoses using robots and AI would potentially increase the general usability and reliability of medical ultrasound. Working towards this prospect, this paper presents the recent developments of a standardized acquisition workflow using a novel dual-probe ultrasound ro
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…