5 papers
Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments using Fiber Bragg Grating Sensors
Alexander Schwarz, Arian Mehrfard, Golchehr Amirkhani +5
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure…
Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies
Mojtaba Esfandiari, Peter Gehlbach, Russell H. Taylor +1
Performing retinal vein cannulation (RVC) as a potential treatment for retinal vein occlusion (RVO) without the assistance of a surgical robotic system is very challenging to do sa…
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study
Mojtaba Esfandiari, Ji Woong Kim, Botao Zhao +5
A surgeon's physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane p…
Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System
Soroush Sadeghnejad, Farshad Khadivar, Mojtaba Esfandiari +4
Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each…
Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator
Golchehr Amirkhani, Anna Goodridge, Mojtaba Esfandiari +4
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advanta…