10 citations · 10 across the 10 of their papers we have counts for
10 papers
Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator
Haoying Zhou, Hao Yang, Brendan Burkhart +6
The da Vinci Research Kit (dVRK) has been widely used for research in robot-assisted surgery over the past decade, and its latest generation, the dVRK-Si was made publicly availabl…
Fabrication and Characterization of Additively Manufactured Stretchable Strain Sensors Towards the Shape Sensing of Continuum Robots
Daniel C. Moyer, Wenpeng Wang, Logan S. Karschner +2
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to prov…
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Haoying Zhou, Hao Yang, Anton Deguet +3
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Su…
Towards a Physics Engine to Simulate Robotic Laser Surgery: Finite Element Modeling of Thermal Laser-Tissue Interactions
Nicholas E. Pacheco, Kang Zhang, Ashley S. Reyes +3
This paper presents a computational model, based on the Finite Element Method (FEM), that simulates the thermal response of laser-irradiated tissue. This model addresses a gap in t…
A Starter's Kit for Concentric Tube Robots
Kalina Bonofiglio, Wenpeng Wang, Ethan R. Wilke +2
Concentric Tube Robots (CTRs) have garnered significant interest within the surgical robotics community because of their flexibility, dexterity, and ease of miniaturization. Howeve…
FDM Printing: a Fabrication Method for Fluidic Soft Circuits?
Savita V. Kendre, Lehong Wang, Ethan Wilke +3
Existing fluidic soft logic gates for the control of soft robots either rely on extensive manual fabrication processes or expensive printing techniques. In our work, we explore Fus…
Losing Focus: Can It Be Useful in Robotic Laser Surgery?
Nicholas Pacheco, Yash Garje, Aakash Rohra +1
This paper proposes a method to regulate the tissue temperature during laser surgery by robotically controlling the laser focus. Laser-tissue interactions are generally considered…
Multi Jet Fusion of Nylon-12: A Viable Method to 3D-print Concentric Tube Robots?
Kalani Picho, Brandon Persons, Jesse F. d'Almeida +3
In this paper, we present a study on the viability of fabricating Concentric Tube Robots using Multi Jet Fusion (MJF) of Nylon-12, a type of elastic polymer commonly used in additi…
Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds
Alex J. Chiluisa, Nicholas E. Pacheco, Hoang S. Do +7
This letter reports the design, construction, and experimental validation of a novel hand-held robot for in-office laser surgery of the vocal folds. In-office endoscopic laser surg…
Identification of Tissue Optical Properties During Thermal Laser-Tissue Interactions: An Ensemble Kalman Filter-Based Approach
Andrea Arnold, Loris Fichera
In this paper, we propose a computational framework to estimate the physical properties that govern the thermal response of laser-irradiated tissue. We focus in particular on two q…