Related papers: Optical Fiber-Based Needle Shape Sensing in Real T…
Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like…
We propose an optical tactile sensor using self-healing materials. The proposed tactile sensor consists of a structure that includes a diode, a phototransistor, and an optical waveguide made from self-healing materials. This design offers…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion…
Optical fibers have altered astronomical instrument design by allowing for a complex, often large instrument to be mounted in a remote and stable location with respect to the telescope. The fibers also enable the possibility to rearrange…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
The research enterprise towards achieving high-performance hollow-core photonic crystal fibers has led to impressive advancements in the latest years. Indeed, using this family of fibers becomes nowadays an overarching strategy for building…
When light passes through a multimode fiber, two-dimensional random intensity patterns are formed due to the complex interference within the fiber. The extreme sensitivity of speckle patterns to the frequency of light paved the way for…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
In this letter, an advanced stretchable optical waveguide sensor is implemented into a multidirectional PneuNet soft actuator to enhance dynamic state estimation through a NARX neural network. The stretchable waveguide featuring a…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
Subretinal injection is a delicate vitreoretinal procedure requiring precise needle placement within the subretinal space while avoiding perforation of the retinal pigment epithelium (RPE), a layer directly beneath the target with extremely…
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory…
Wearable devices are becoming increasingly important, addressing needs in both the fitness and the medical markets. In this paper, we describe a novel sensing platform based on a hollow-core polyurethane optical fiber, operating through…
Industry is transitioning from manually monitored components and processes to data-driven solutions. At the heart of this transformation is predictive maintenance, which relies on simultaneous, real-time monitoring of key operational…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
A flexible multimode fiber is an exceptionally efficient tool for in vivo deep tissue imaging. Recent advances in compressive multimode fiber sensing allow for imaging with sub-diffraction spatial resolution and sub-Nyquist speed. At…
Ultra-thin multimode optical fiber imaging promises next-generation medical endoscopes reaching high image resolution for deep tissues. However, current technology suffers from severe optical distortion, as the fiber's calibration is…
Speckle-based fiber optic sensors are well-known to offer high sensitivity but are strongly limited on the interrogation side by low camera frame rates and dynamic range. To address this limitation, we present a novel interrogation…