Related papers: Optical Fiber-Based Needle Shape Sensing in Real T…
Inspired by the classic theory, we suggest that the performance of a D-shaped fiber optical surface plasmon resonance (SPR) sensor can be improved by manipulating the fiber core mode. To demonstrate this, we propose a novel fiber SPR sensor…
Multimode fibers recently emerged as compact minimally-invasive probes for high-resolution deep-tissue imaging. However, the commonly used silica fibers have a relatively low numerical aperture (NA) limiting the spatial resolution of a…
With the rapid development of information and communication technologies in recent years, the transmission capacity of single-core optical fibers has nearly reached its physical limit. Space-division multiplexing based on multi-core fibers…
Purpose. Intraoperative Optical Coherence Tomography (iOCT) is an increasingly available imaging technique for ophthalmic microsurgery that provides high-resolution cross-sectional information of the surgical scene. We propose to build on…
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first…
Annually, more than 16 billion medical needles are consumed worldwide. However, the functions of the medical needle are still limited to cutting and delivering or drawing material through the needle to a target site. Ultrasound combined…
Over the past decade, optical wavefront shaping has been developed to focus light through highly opaque scattering layers, opening new possibilities for biomedical applications. To probe light intensity deep inside soft scattering media…
We present a novel approach for minimally invasive flexible needle manipulations by pairing a real-time finite element simulator with the cross-entropy method. Additionally, we demonstrate how a kinematic-driven bang-bang controller can…
Speckle-based sensing exploits the rich environmental information of its high-dimensional spatial intensity patterns. However, the requirement for camera-based acquisition and subsequent electronic digitization introduces significant…
Percutaneous epicardial access (PEA), performed on a beating heart under fluoroscopy, enables arrhythmia treatment. However, advancing a needle toward the thin and moving pericardium remains highly challenging and risky. To address this…
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…
We present an error-controlled mesh refinement procedure for needle insertion simulation and apply it to the simulation of electrode implantation for deep brain stimulation, including brain shift. Our approach enables to control the error…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Photoacoustic imaging has shown great potential for guiding minimally invasive procedures by accurate identification of critical tissue targets and invasive medical devices (such as metallic needles). The use of light emitting diodes (LEDs)…
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited to flat-surface sensors, which prevents their usage…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions,…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
In the present work a new model of a refractive index (RI) sensor is exhibited. This is based on a dual core micro-structured optical fiber (MOF), where two holes are introduced at the core centers. In this way, the model enhances the…
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots,…