Related papers: Optical Fiber-Based Needle Shape Sensing in Real T…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
Multi-core fiber-bundle endoscopes provide a minimally-invasive solution for deep tissue imaging and opto-genetic stimulation, at depths beyond the reach of conventional microscopes. Recently, wavefront-shaping has enabled lensless…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
Shape tracking of medical devices using strain sensing properties in optical fibers has seen increased attention in recent years. In this paper, we propose a novel guidance system for intra-arterial procedures using a distributed strain…
Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireless electronics that integrate dual-zone vision-tactile…
Patient outcomes in the medical field are improving through the use and incorporation of robotics technology and laser physics, e.g., the use of optical fibers and lasers in micro-surgery. This paper describes the design and implementation…
In this study we present a kinematic approach to modeling needle insertion into soft tissues. The kinematic approach allows the presentation of the problem as Dirichlet-type (i.e. driven by enforced motion of boundaries) and therefore…
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
Human fingerprints serve as one unique and powerful characteristic for each person, from which policemen can recognize the identity. Similar to humans, many natural bodies and intrinsic mechanical qualities can also be uniquely identified…
Continuum robots are promising candidates for interactive tasks in medical and industrial applications due to their unique shape, compliance, and miniaturization capability. Accurate and real-time shape sensing is essential for such tasks…
Ultrasound-guided percutaneous needle insertion is a standard procedure employed in both biopsy and ablation in clinical practices. However, due to the complex interaction between tissue and instrument, the needle may deviate from the…
Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…
Physiological sensing deep in tissue, remains a clinical challenge. Here a flexible miniaturised sensing optrode providing a platform to perform minimally invasive in vivo in situ measurements is reported. Silica microspheres covalently…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Fluorescence imaging allows for non-invasively visualizing and measuring key physiological parameters like pH and dissolved oxygen. In our work, we created two ratiometric fluorescent microsensors designed for accurately tracking dissolved…