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Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness
Jiewen Tan, Junnan Xue, Shing Shin Cheng +3
Achieving both efficient pushability (propulsion transmission) and proximally concentrated bending for steerability is challenging for magnetically actuated soft catheters: higher…
Reconfigurable Tendon-Driven Robots: Eliminating Inter-segmental Coupling via Independently Lockable Joints
Botao Lin, Shuang Song, Jiaole Wang
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independe…
Adjusting Tissue Puncture Omnidirectionally In Situ with Pneumatic Rotatable Biopsy Mechanism and Hierarchical Airflow Management in Tortuous Luminal Pathways
Botao Lin, Tinghua Zhang, Sishen Yuan +4
In situ tissue biopsy with an endoluminal catheter is an efficient approach for disease diagnosis, featuring low invasiveness and few complications. However, the endoluminal cathet…
Automatic Tissue Traction Using Miniature Force-Sensing Forceps for Minimally Invasive Surgery
Tangyou Liu, Xiaoyi Wang, Jay Katupitiya +2
A common limitation of autonomous tissue manipulation in robotic minimally invasive surgery (MIS) is the absence of force sensing and control at the tool level. Recently, our team…
Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Surgery
Tangyou Liu, Tinghua Zhang, Jay Katupitiya +2
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipul…
Camera Frame Misalignment in a Teleoperated Eye-in-Hand Robot: Effects and a Simple Correction Method
Liao Wu, Fangwen Yu, Thanh Nho Do +1
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignm…