4 accepted papers
Despite decades of research in magnetic resonance imaging (MRI)-compatible robotic technologies, the existing MRI-safe needle drivers rarely feature simultaneously high compactness, large insertion force, and motion versatility, all of which are critical to facilitate clinical translation in intraop…
Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material susceptibility. In this work, the motion-guided dual-camera vision t
The sampling-based motion planners, including the Rapidly-exploring Random Trees (RRT) algorithms, are widely utilized in continuum robots, enabling efficient search for feasible motion plans in constrained environments. In surgical robotics, complex mapping among the high-dimensional kinematics of
Magnetic resonance imaging (MRI) is increasingly used for robotic needle-based clinical diagnosis and therapy due to its high resolution and high soft tissue contrast. A needle driver therefore becomes an essential part of these MRI -guided robotic systems to perform in-bore needle placement under c…