5 citations · 5 across the 4 of their papers we have counts for
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Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception
Gang Zhang, Yufu Qiu, Junyan Yan +3
Shape and force sensing have long been critical bottlenecks in the development of compact capstan-driven continuum surgical robots, primarily due to the difficulty of obtaining cab…
Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing
Gang Zhang, Junyan Yan, Jibiao Chen +1
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical…
Refined Motion Compensation with Soft Laser Manipulators using Data-Driven Surrogate Models
Yongjun Yan, Qingpeng Ding, Mingwu Li +2
Non-contact laser ablation, a precise thermal technique, simultaneously cuts and coagulates tissue without the insertion errors associated with rigid needles. Human organ motions,…
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
Yiang Lu, Bin Li, Wei Chen +6
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However,…
Towards Safe Control of Continuum Manipulator Using Shielded Multiagent Reinforcement Learning
Guanglin Ji, Junyan Yan, Jingxin Du +5
Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject t…