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With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…
This research delves into the enhancement of control mechanisms for the da Vinci Surgical System, focusing on the implementation of gravity compensation and refining the modeling of the master and patient side manipulators. Leveraging the…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF…
Autonomous robotic surgery has the potential to provide efficacy, safety, and consistency independent of individual surgeons skill and experience. Autonomous soft-tissue surgery in unstructured and deformable environments is especially…
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance…
Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an aging population, relatively simple and safe diagnosis tasks may need to be performed using robotics…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedback. We present RATS (Robot-Assisted Tissue Surgery), an…
The rise of surgical robots and vision-language-action models has accelerated the development of autonomous surgical policies and efficient assessment strategies. However, evaluating these policies directly on physical robotic platforms…
Vision-Language-Action models (VLAs) mark a major shift in robot learning. They replace specialized architectures and task-tailored components of expert policies with large-scale data collection and setup-specific fine-tuning. In this…
Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to…
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and control paradigms that have characterized surgical…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…