5 papers
The OncoReach Stylet for Brachytherapy: Design Evaluation and Pilot Study
Pejman Kheradmand, Kent K. Yamamoto, Emma Webster +9
Cervical cancer accounts for a significant portion of the global cancer burden among women. Interstitial brachytherapy (ISBT) is a standard procedure for treating cervical cancer;…
A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Pejman Kheradmand, Behnam Moradkhani, Raghavasimhan Sankaranarayanan +5
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They o…
Tendon-Actuated Concentric Tube Endonasal Robot (TACTER)
Kent K. Yamamoto, Tanner J. Zachem, Pejman Kheradmand +6
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the s…
Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning
Kent K. Yamamoto, Tanner J. Zachem, Behnam Moradkhani +2
There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification…
An FBG-based Stiffness Estimation Sensor for In-vivo Diagnostics
Behnam Moradkhani, Pejman Kheradmand, Harshith Jella +4
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we…