13 accepted papers
Recent research has increasingly focused on delivering drug-carrying magnetic particles to diseased areas using electromagnetic actuation (EMA) systems. Particularly, in these systems, creating a field-free point (FFP) and using it to steer magnetic particles in the desired direction has attracted s…
Accurate estimation of tumor boundaries is critical for ensuring adequate surgical margins in robot-assisted minimally invasive surgery (RMIS). In this study, we present a method that estimates tumor boundaries in RMIS using sweeping palpation data acquired with a single force/torque (F/T) sensor. F
Accurate estimation of tumor boundaries is critical for ensuring adequate surgical margins in robot-assisted minimally invasive surgery (RMIS). In this study, we present a method that estimates tumor boundaries in RMIS using sweeping palpation data acquired with a single force/torque (F/T) sensor. F…
Magnetically actuated soft continuum robots (MSCRs), which offer remote and wireless control via external magnetic fields along with high flexibility, have recently emerged as a promising technology for minimally invasive surgery (MIS). However, the magnetic actuation forces of MSCRs are generally l
Magnetically actuated soft continuum robots (MSCRs), which offer remote and wireless control via external magnetic fields along with high flexibility, have recently emerged as a promising technology for minimally invasive surgery (MIS). However, the magnetic actuation forces of MSCRs are generally l…
Robot-assisted minimally invasive surgery (RMIS) provides superior visualization, precision, and flexibility, and it has gained recognition as a technology that enhances therapeutic outcomes, particularly in tumor resection. However, this technology has a limitation in that it predominantly relies o…
This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by embedded permanent magnets, and the lattice spreads these chan…
Recent research has increasingly focused on delivering drug-carrying magnetic particles to diseased areas using electromagnetic actuation (EMA) systems. Particularly, in these systems, creating a field-free point (FFP) and using it to steer magnetic particles in the desired direction has attracted s
Robot-assisted minimally invasive surgery (RMIS) provides superior visualization, precision, and flexibility, and it has gained recognition as a technology that enhances therapeutic outcomes, particularly in tumor resection. However, this technology has a limitation in that it predominantly relies o
Recently, in the minimally invasive surgery field, magnetic soft continuum robots (MSCRs) have been actively studied, which are driven by an external magnetic field with a small magnet attached to the tip of the SCR. In addition, MSCR with opposite magnets (MSCR-OMs) has been reported for high dexte
Recently, active research has been conducted on the therapeutic functions of capsule endoscopes. Here, we propose an active capsule system that captures images of the interior of the gastrointestinal tract (GI) and actively delivers therapeutic patches. The active capsule system mainly comprises the…
Soft continuum robots have been widely used as guide wires or catheters for minimally invasive surgery (MIS), and the miniaturization and dexterity are very important characteristics of soft continuum robots. As a representative actuation method for soft continuum robots, the steering using an exter…
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