Related papers: Vitreoretinal Surgical Robotic System with Autonom…
Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…
A surgeon's physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane peeling. Robot-assisted eye surgery technology provides…
We developed and validated RetinaVR, an affordable and immersive virtual reality simulator for vitreoretinal surgery training, using the Meta Quest 2 VR headset. We focused on four core fundamental skills: core vitrectomy, peripheral…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Purpose: The integration of multimodal imaging into operating rooms paves the way for comprehensive surgical scene understanding. In ophthalmic surgery, by now, two complementary imaging modalities are available: operating microscope (OPMI)…
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…
This paper proposes a solution for multiple-impulse orbital maneuvers near circular orbits for special cases where orbital observations are not globally available and the spacecraft is being observed through a limited window from a ground…
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vision-based, model-free microrobotic pushing algorithm for…
Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micro-precise tool to a trocar: fully co-manipulated, hybrid…
Retinal vessel segmentation is a fundamental step in screening, diagnosis, and treatment of various cardiovascular and ophthalmic diseases. Robustness is one of the most critical requirements for practical utilization, since the test images…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor control. This study demonstrates the next generation,…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
Autonomous surgical robots have demonstrated significant potential to standardize surgical outcomes, driving innovations that enhance safety and consistency regardless of individual surgeon experience. Deep anterior lamellar keratoplasty…
Open, or non-laparoscopic surgery, represents the vast majority of all operating room procedures, but few tools exist to objectively evaluate these techniques at scale. Current efforts involve human expert-based visual assessment. We…
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and control paradigms that have characterized surgical…
Optical control of nanoscale objects has recently developed into a thriving field of research with far-reaching promises for precision measurements, fundamental quantum physics and studies on single-particle thermodynamics. Here, we…
Eye movements are commonly seen as an obstacle to high-resolution ophthalmic imaging. In this context we study the natural axial movements of the in vivo human eye and show that they can be used to modulate the optical phase and retrieve…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Fluoroscopic X-ray guidance is a cornerstone for percutaneous orthopaedic surgical procedures. However, two-dimensional observations of the three-dimensional anatomy suffer from the effects of projective simplification. Consequently, many…