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This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
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…
Mechanical thrombectomy (MT) is typically the optimal treatment for acute ischemic stroke involving large vessel occlusions, but access is limited due to geographic and logistical barriers. Reinforcement learning (RL) shows promise in…
Humanoid robots have become a focal point of technological ambition, with claims of surgical capability within years in mainstream discourse. These projections are aspirational yet lack empirical grounding. To date, no humanoid has assisted…
Percutaneous catheter pumps are intraventricular temporary mechanical circulatory support (MCS) devices that are positioned across the aortic valve into the left ventricle (LV) and provide continuous antegrade blood flow from the LV into…
Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter-operator variability and inconsistent image acquisition…
Surgical resection of hepatic tumours is not always possible, since it depends on different factors, among which their location inside the liver functional segments. Alternative techniques consist in local use of chemical or physical agents…
In recent years, gamification has become very popular for rehabilitating different cognitive and motor problems. It has been shown that rehabilitation is effective when it starts early enough and it is intensive and repetitive. However, the…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms, primarily based on the da Vinci…
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small…
Ultrasound (US) is one of the most widely used modalities for clinical intervention and diagnosis due to the merits of providing non-invasive, radiation-free, and real-time images. However, free-hand US examinations are highly…
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to…
Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
The teleoperation of robotic systems in medical applications requires stable and convenient visual feedback for the operator. The most accessible approach to delivering visual information from the remote area is using cameras to transmit a…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…