5 citations · 14 across the 6 of their papers we have counts for
6 papers
Body-mounted MR-conditional Robot for Minimally Invasive Liver Intervention
Zhefeng Huang, Anthony L. Gunderman, Samuel E. Wilcox +5
MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub-opti…
Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization
Jia Shen, Yifan Wang, Milad Azizkhani +2
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control schemes have been proposed in the past decade…
Design, Modeling, and Redundancy Resolution of Soft Robot for Effective Harvesting
Milad Azizkhani, Anthony L. Gunderman, Alex S. Qiu +3
Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through th…
Tendon-Driven Soft Robotic Gripper with Integrated Ripeness Sensing for Blackberry Harvesting
Alex Qiu, Claire Young, Anthony Gunderman +3
Growing global demand for food, coupled with continuing labor shortages, motivates the need for automated agricultural harvesting. While some specialty crops (e.g., apples, peaches…
Dynamic Control of Soft Robotic Arm: An Experimental Study
Milad Azizkhani, Anthony L. Gunderman, Isuru S. Godage +1
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft…
A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot
Anthony L. Gunderman, Saikat Sengupta, Eleni Siampli +7
Intracerebral hemorrhage (ICH) is the deadliest stroke sub-type, with a one-month mortality rate as high as 52%. Due to the potential cortical disruption caused by craniotomy, cons…