4 papers
Improving Needle Penetration via Precise Rotational Insertion Using Iterative Learning Control
Yasamin Foroutani, Yasamin Mousavi-Motlagh, Aya Barzelay +1
Achieving precise control of robotic tool paths is often challenged by inherent system misalignments, unmodeled dynamics, and actuation inaccuracies. This work introduces an Iterat…
High-Precision Surgical Robotic System for Intraocular Procedures
Yu-Ting Lai, Jacob Rosen, Yasamin Foroutani +4
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, prec…
Safe Robotic Capsule Cleaning with Integrated Transpupillary and Intraocular Optical Coherence Tomography
Yu-Ting Lai, Yasamin Foroutani, Aya Barzelay +1
Secondary cataract is one of the most common complications of vision loss due to the proliferation of residual lens materials that naturally grow on the lens capsule after cataract…
Control Modes of Teleoperated Surgical Robotic System's Tools in Ophthalmic Surgery
Haoran Wang, Yasamin Foroutani, Matthew Nepo +5
The introduction of a teleoperated surgical robotic system designed for minimally invasive procedures enables the emulation of two distinct control modes through a dedicated input…