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This paper presents the mechanical design of a distal scanner to perform a spiral scan for mosaic-imaging with a confocal microlaparoscope. First, it is demonstrated with ex vivo experiments that a spiral scan performs better than a raster…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…
High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…
Forward-viewing endoscopic optical coherence tomography (OCT) provides 3D imaging in vivo, and can be combined with widefield fluorescence imaging by use of a double-clad fiber. However, it is technically challenging to build a…
This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by…
The following research undertakes a historical review of this technology with specific highlighting of its advancement in medical diagnostics as well as the therapeutic functionality of wireless capsule endoscopy. Without restriction to the…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
Optical endoscopy plays a crucial role in minimally invasive medical diagnostics and therapeutic procedures. Nonetheless, state-of-the-art endoscopic zoom objectives are bulky, requiring multi-element lens actuation, which can limit…
Flexible endoscopy requires high skills to manipulate both the endoscope and associated instruments. In most robotic flexible endoscopic systems, the endoscope and instruments are controlled separately by two operators, which may result in…
Achieving high repeatability and efficiency in laser-induced strong shock wave excitation remains a significant technical challenge, as evidenced by the extensive efforts undertaken at large-scale national laboratories to optimize the…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Endoscopic surgery is the gold standard for robotic-assisted minimally invasive surgery, offering significant advantages in early disease detection and precise interventions. However, the complexity of surgical scenes, characterized by high…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Magnetic resonance imaging (MRI) is a powerful imaging modality that revolutionizes medicine and biology. The imaging speed of high-dimensional MRI is often limited, which constrains its practical utility. Recently, low-rank tensor models…
This report details the successful construction of an ultrasound imaging platform and the design and fabrication of a novel ultrasound endoscope probe. The projects primary objective was to establish a functional system for acquiring and…
Endoscopic optical coherence tomography (OCT) is a valuable tool for providing diagnostic images of internal organs and guiding interventions in real time. Miniaturized OCT endoscopes are essential for imaging small and convoluted luminal…