Related papers: Fiber Optical Shape Sensing of Flexible Instrument…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Fiber optic shape sensors have enabled unique advances in various navigation tasks, from medical tool tracking to industrial applications. Eccentric fiber Bragg gratings (FBG) are cheap and easy-to-fabricate shape sensors that are often…
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots,…
Shape tracking of medical devices using strain sensing properties in optical fibers has seen increased attention in recent years. In this paper, we propose a novel guidance system for intra-arterial procedures using a distributed strain…
Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like…
Flexible needle insertion procedures are common for minimally-invasive surgeries for diagnosing and treating prostate cancer. Bevel-tip needles provide physicians the capability to steer the needle during long insertions to avoid vital…
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure and non-linear curvature pose significant challenges for…
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of…
To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain…
In robot-assisted Fenestrated Endovascular Aortic Repair (FEVAR), accurate alignment of stent graft fenestrations or scallops with aortic branches is essential for establishing complete blood flow perfusion. Current navigation is largely…
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for tissue stiffness…
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible…
Fibre optic sensors (FOS) are an established technique for environmental and deformation monitoring in several areas like civil engineering, aerospace, and energy. Their immunity to electromagnetic and magnetic fields and nuclear…
Tissue stiffness is related to soft tissue pathologies and can be assessed through palpation or via clinical imaging systems, e.g., ultrasound or magnetic resonance imaging. Typically, the image based approaches are not suitable during…
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…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the continuum dexterous manipulator (CDM) for tip position…
Sapphire optical fiber shows great promise for remote sensing in extreme environments approaching 2000 degC, by using laser-processing to form a single-mode waveguide within it. However, for practical application, longer devices with high…
Robot-assisted deployment of fenestrated stent grafts in Fenestrated Endovascular Aortic Repair (FEVAR) requires accurate geometrical alignment. Currently, this process is guided by 2D fluoroscopy, which is uninformative and error prone. In…