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Emerging two-dimensional (2D) magnetic semiconductors represent transformative platforms to explore magneto-optics and opto-spintronic applications. Though 2D opto-spintronics has attracted tremendous research efforts in spin-dependent…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
Spin-bearing molecules can be stabilized on surfaces and in junctions with desirable properties such as a net spin that can be adjusted by external stimuli. Using scanning probes, initial and final spin states can be deduced from…
As the more sensors and actuators are used in the robotic systems to provide more features, complexity of the system is increasing. When it comes to medical robotics, it becomes harder to ensure safety and determinism in the system. To deal…
The stomach plays a central role in digestion through coordinated muscle contractions, known as gastric peristalsis, driven by slow-wave electrophysiology. Understanding this process is critical for treating motility disorders such as…
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
Endovascular navigation is a crucial aspect of minimally invasive procedures, where precise control of curvilinear instruments like guidewires is critical for successful interventions. A key challenge in this task is accurately predicting…
The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended model of the plant. After such an uncertain plant is formed, an…
Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective workspace of an eMNS is often severely constrained by power…
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this procedure has two main limitations: 1) Manual sampling through…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
We investigate the electromechanical actuation of a pair of suspended silicon nitride membranes forming a monolithic optomechanical array. By controlling the membrane resonators' tensile stress via a piezoelectrically controlled compressive…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
Minimally invasive interventions performed inside brain vessels with the synergistic use of microcatheters pushed over guidewires have revolutionized the way aneurysms, stroke, arteriovenous malformations, brain tumors and other…
Stroke patients often experience upper limb impairments that restrict their mobility and daily activities. Physical therapy (PT) is the most effective method to improve impairments, but low patient adherence and participation in PT…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…