Related papers: High-Precision Surgical Robotic System for Intraoc…
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such as subretinal injections of stem cells, gene therapy, small…
This paper presents the development and experimental evaluation of a surgical robotic system for total hip arthroplasty (THA). Although existing robotic systems used in joint replacement surgery have achieved some progresses, the robot arm…
Optical projection tomography (OPT) is a powerful tool for biomedical studies. It achieves 3D visualization of mesoscopic biological samples with high spatial resolution using conventional tomographic-reconstruction algorithms. However,…
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,…
Optical projection tomography (OPT) is a powerful tool for biomedical studies. It achieves 3D visualization of mesoscopic biological samples with high spatial resolution using conventional tomographic-reconstruction algorithms. However,…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
Purpose. Localizing structures and estimating the motion of a specific target region are common problems for navigation during surgical interventions. Optical coherence tomography (OCT) is an imaging modality with a high spatial and…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy,…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
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…
Current surgical procedures for spinal cord tumors lack in vivo high-resolution, high-speed multifunctional imaging systems, posing challenges for precise tumor resection and intraoperative decision-making. This study introduces the Fast…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
This dissertation relates to the transition of the state of the art of swept source optical coherence tomography (SS-OCT) systems to a new realm in which the image acquisition speed is improved by an order of magnitude. With the aid of a…
Free-hand dental procedures are typically repetitive, time-consuming and require high precision and manual dexterity. Robots can play a key role in improving procedural accuracy and safety, enhancing patient comfort, and reducing operator…
Achieving precise control of robotic tool paths is often challenged by inherent system misalignments, unmodeled dynamics, and actuation inaccuracies. This work introduces an Iterative Learning Control (ILC) strategy to enable precise…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…