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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…
PURPOSE: We have conducted experiments with an innovatively designed robot endoscope holder for laparoscopic surgery that is small and low cost. MATERIALS AND METHODS: A compact light endoscope robot (LER) that is placed on the patient's…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
Dynamic Contrast-enhanced magnetic resonance imaging (DCE-MRI) is a tissue perfusion imaging technique. Some versatile free-breathing DCE-MRI techniques combining compressed sensing (CS) and parallel imaging with golden-angle radial…
Billions of vascular access procedures are performed annually worldwide, serving as a crucial first step in various clinical diagnostic and therapeutic procedures. For pediatric or elderly individuals, whose vessels are small in size…
Multiarticulate bionic arms are now capable of mimicking the endogenous movements of the human hand. 3D-printing has reduced the cost of prosthetic hands themselves, but there is currently no low-cost alternative to dexterous…
Assessing the condition and visibility of veins is a crucial step before obtaining intravenous access in the antecubital fossa, which is a common procedure to draw blood or administer intravenous therapies (IV therapies). Even though…
The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
Teleoperation plays a critical role in intuitive robot control and imitation learning, particularly for complex tasks involving mobile manipulators with redundant degrees of freedom (DoFs). However, most existing master controllers are…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
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.…
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
The integration of medical imaging, computational analysis, and robotic technology has brought about a significant transformation in minimally invasive surgical procedures, particularly in the realm of laparoscopic rectal surgery (LRS).…
Patients suffering chronic severe pulmonary thromboembolism need Pulmonary Thromboendarterectomy (PTE) to remove the thromb and intima located inside pulmonary artery (PA). During the surgery, a surgeon holds tweezers and a dissector to…
This article presents the design and assembly of a novel magnetically actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high speed scanning of a fiber-based laser for operation in narrow…
In recent years, deep learning has successfully been applied to automate a wide variety of tasks in diagnostic histopathology. However, fast and reliable localization of small-scale regions-of-interest (ROI) has remained a key challenge, as…
Intraoperative imaging techniques for reconstructing deformable tissues in vivo are pivotal for advanced surgical systems. Existing methods either compromise on rendering quality or are excessively computationally intensive, often demanding…