6 accepted papers
Magnetic compression anastomosis (MCA) offers a promising solution for minimally invasive anastomosis surgery. However, current MCA schemes lack safe, real-time localization, and guidance for compression magnets, hindering surgeons’ ability to control the compression magnets effectively in complex, …
Magnetically actuated capsule endoscopic robots (MACERs) are becoming increasingly popular because they can reach deep diseased regions inside the body that are difficult or inaccessible to traditional endoscopes without the restriction of mechanical transmission medium. However, MACERs are highly n
Despite advantages from neurosurgical systems, achieving intuitive and safe collaboration with robot during the coarse positioning of instrument insertion end effector (IIEE) remains a critical issue. In this paper, we propose a novel non-contact hand-guided method for such advancement based on magn
Endoscopic submucosal dissection (ESD) is a procedure targeted for early gastrointestinal cancer. Traction plays a crucial role in enhancing the efficiency of cutting lesions, thereby reducing procedural complexity and duration. From the perspective of traction devices, current non-magnetic ones hol
In response to torso-oriented magnetic localization tasks that require the system to have interactivity and flexibility with guaranteed accuracy, a novel bio-inspired magnetic sensor array configuration is proposed in this paper. Precisely, the ideas of the natural characteristics of octopus flexibl…
This paper is concerned with the issue of the kinematic model-based bending control for the magnetically actuated robotic endoscope and its application for automatic retroflexion. By the utilization of the Cosserat rod theory and the transformation in the magnetic tip of the endoscope, the comprehen…