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In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient.…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Autonomous surgical execution relieves tedious routines and surgeon's fatigue. Recent learning-based methods, especially reinforcement learning (RL) based methods, achieve promising performance for dexterous manipulation, which usually…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
Data scarcity has long been an issue in the robot learning community. Particularly, in safety-critical domains like surgical applications, obtaining high-quality data can be especially difficult. It poses challenges to researchers seeking…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
Colorectal cancer screening critically depends on colonoscopy, yet existing platforms offer limited support for systematically studying the coupled dynamics of operator control, instrument motion, and visual feedback. This gap restricts…
Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in…
Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…
Realistic real-time surgical simulators play an increasingly important role in surgical robotics research, such as surgical robot learning and automation, and surgical skills assessment. Although there are a number of existing surgical…
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…
Endovascular robots have been actively developed in both academia and industry. However, progress toward autonomous catheterization is often hampered by the widespread use of closed-source simulators and physical phantoms. Additionally, the…
Many have explored the application of continuum robot manipulators for minimally invasive surgery, and have successfully demonstrated the advantages their flexible design provides -- with some solutions having reached commercialisation and…