5 papers
Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow
Anuruddha Bhattacharjee, Xinhao Chen, Lamar O. Mair +3
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remai…
Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
Kimia Forghani, Suraj Raval, Lamar Mair +2
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits…
Fluoroscopy-Constrained Magnetic Robot Control via Zernike-Based Field Modeling and Nonlinear MPC
Xinhao Chen, Hongkun Yao, Anuruddha Bhattacharjee +4
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is li…
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
Kimia Forghani, Suraj Raval, Lamar Mair +2
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like sutur…
Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue
Will Pryor, Yotam Barnoy, Suraj Raval +7
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localizatio…