Related papers: Robotic Electrospinning Actuated by Non-Circular J…
This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…
Combining the unmatched soft-tissue imaging capabilities of magnetic resonance imaging (MRI) with high precision robotics has the potential to improve the accuracy, precision, and safety of a wide range of image-guided medical procedures.…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
This letter reports the design, construction, and experimental validation of a novel hand-held robot for in-office laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
Electrosurgery is a surgical technique that can improve tissue cutting by reducing cutting force and bleeding. However, electrosurgery adds a risk of thermal injury to surrounding tissue. Expert surgeons estimate desirable cutting…
Vascular diseases such as atherosclerosis, thrombosis, and aneurysms can lead to life-threatening medical events. Conventional catheter- or guidewire-based interventional devices often struggle to navigate through highly tortuous…
Present day computers expend orders of magnitude more computational resources to perform various cognitive and perception related tasks that humans routinely perform everyday. This has recently resulted in a seismic shift in the field of…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
In this paper, we present the design, fabrication, and evaluation of a novel flexible, yet structurally strong, Concentric Tube Steerable Drilling Robot (CT-SDR) to improve minimally invasive treatment of spinal tumors. Inspired by…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could…
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between tools and also collisions with the surrounding tissues. Surgical…
Spinal cord stimulation (SCS) is primarily utilized for pain management and has recently demonstrated efficacy in promoting functional recovery in patients with spinal cord injury. Effective stimulation of motor neurons ideally requires the…
The angular momentum of evanescent light fields has been studied in nano-optics and plasmonics, but not in the microwave regime. Here we predict non-contact pumping of electron spin currents in conductors by the evanescent stray fields of…
Controlling non-linear effects in the transverse dynamics of charged particle beams in circular accelerators opens new possibilities for controlling some of the beam properties. Beam splitting by crossing a stable 1D non-linear resonance is…
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties for robot navigation. Vision-based…
This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was…