Related papers: Collaborative Drill Alignment in Surgical Robotics
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introduce a new active virtual-model control…
Purpose - Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Robotic surgery offers enhanced precision and adaptability, paving the way for automation in surgical interventions. Cholecystectomy, the gallbladder removal, is particularly well-suited for automation due to its standardized procedural…
Drilling is one of the hardest parts of pedicle screw fixation, and it is one of the most dangerous operations because inaccurate screw placement would injury vital tissues, particularly when the vertebra is not stationary. Here we…
Pick-and-place regrasp is an important manipulation skill for a robot. It helps a robot accomplish tasks that cannot be achieved within a single grasp, due to constraints such as kinematics or collisions between the robot and the…
Labor shortages in the United States are impacting a number of industries including the meat processing sector. Collaborative technologies that work alongside humans while increasing production abilities may support the industry by…
Automating suturing during robotically-assisted surgery reduces the burden on the operating surgeon, enabling them to focus on making higher-level decisions rather than fatiguing themselves in the numerous intricacies of a surgical…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
Autonomous robots for endovascular interventions hold significant potential to enhance procedural safety and reliability by navigating guidewires with precision, minimizing human error, and reducing surgical time. However, existing methods…
In this paper, with the goal of enhancing the minimally invasive spinal fixation procedure in osteoporotic patients, we propose a first-of-its-kind image-guided robotic framework for performing an autonomous and patient-specific procedure…
Internal fixation is a common orthopedic procedure in which a rigid screw is used to fix fragments of a fractured bone together and expedite the healing process. However, the rigidity of the screw, geometry of the fractured anatomy (e.g.…
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
Contemporary progress in the field of robotics, marked by improved efficiency and stability, has paved the way for the global adoption of surgical robotic systems (SRS). While these systems enhance surgeons' skills by offering a more…