4 papers · 1 filter
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Ravi Prakash, Vincent Y. Wang, Arpit Mishra +5
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedb…
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Guangshen Ma, Ravi Prakash, Beatrice Schleupner +10
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surro…
Sampling-Based Model Predictive Control for Volumetric Ablation in Robotic Laser Surgery
Vincent Y. Wang, Ravi Prakash, Siobhan R. Oca +3
Laser-based surgical ablation relies heavily on surgeon involvement, restricting precision to the limits of human error. The interaction between laser and tissue is governed by var…
Design and Evaluation of a Compliant Quasi Direct Drive End-effector for Safe Robotic Ultrasound Imaging
Danyi Chen, Ravi Prakash, Vincent Y. Wang +9
Robot-assisted ultrasound scanning promises to advance autonomous and accessible medical imaging. However, ensuring patient safety and compliant human-robot interaction during prob…