6 papers · 1 filter
Characterization of Constraints in Flexible Unknown Environments
Samrat Bhattacharyya, Nabil Simaan
This paper presents an online path planning algorithm for safe autonomous manipulation of a flexibly constrained object in an unknown environment. Methods for real time identificat…
Sensorless Remote Center of Motion Misalignment Estimation
Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz +2
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either h…
Exploring Accelerated Skill Acquisition via Tandem Training for Colonoscopy
Olivia Richards, Keith L. Obstein, Nabil Simaan
New endoscopists require a large volume of expert-proctored colonoscopies to attain minimal competency. Developing multi-fingered, synchronized control of a colonoscope requires si…
Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
Jared Lawson, Rohan Chitale, Nabil Simaan
Safe navigation of steerable and robotic catheters in the cerebral vasculature requires awareness of the catheters shape and pose. Currently, a significant perception burden is pla…
A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots
Garrison L. H. Johnston, Neel Shihora, Nabil Simaan
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profi…
A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics
Madison Veliky, Garrison L. H. Johnston, Ahmet Yildiz +1
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by t…