29 citations · 113 across the 40 of their papers we have counts for
41 papers
A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model
Yi Wang, Peiyao Zhang, Mojtaba Esfandiari +2
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small s…
Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation
Tianle Wu, Mojtaba Esfandiari, Peiyao Zhang +3
Subretinal injection is a critical procedure for delivering therapeutic agents to treat retinal diseases such as age-related macular degeneration (AMD). However, retinal motion cau…
An Extended Generalized Prandtl-Ishlinskii Hysteresis Model for I2RIS Robot
Yiyao Yue, Mojtaba Esfandiari, Pengyuan Du +5
Retinal surgery requires extreme precision due to constrained anatomical spaces in the human retina. To assist surgeons achieve this level of accuracy, the Improved Integrated Robo…
Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter
Mojtaba Esfandiari, Pengyuan Du, Haochen Wei +4
Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction betw…
A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance
Peiyao Zhang, Peter Gehlbach, Marin Kobilarov +1
A potential Retinal Vein Occlusion (RVO) treatment involves Retinal Vein Cannulation (RVC), which requires the surgeon to insert a microneedle into the affected retinal vein and ad…
Minimally Invasive Flexible Needle Manipulation Based on Finite Element Simulation and Cross Entropy Method
Yanzhou Wang, Chang Chang, Junling Mei +2
We present a novel approach for minimally invasive flexible needle manipulations by pairing a real-time finite element simulator with the cross-entropy method. Additionally, we dem…
Towards Motion Compensation in Autonomous Robotic Subretinal Injections
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Exudative (wet) age-related macular degeneration (AMD) is a leading cause of vision loss in older adults, typically treated with intravitreal injections. Emerging therapies, such a…
Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance
Demir Arikan, Peiyao Zhang, Michael Sommersperger +7
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence t…
A universal bioluminescence tomography system for pre-clinical image-guided radiotherapy research
Zhishen Tong, Zijian Deng, Xiangkun Xu +12
CBCT-guided small animal irradiators encounter challenges in localizing soft-tissue targets due to low imaging contrast. Bioluminescence tomography (BLT) offers a promising solutio…
Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers
Yanzhou Wang, Lidia Al-Zogbi, Jiawei Liu +6
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compens…
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…
Evaluation of a motion measurement system for PET imaging studies
Junxiang Wang, Ti Wu, Iulian I. Iordachita +1
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human acti…
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…
Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues
Yanzhou Wang, Lidia Al-Zogbi, Guanyun Liu +4
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome…
Calibration and evaluation of a motion measurement system for PET imaging studies
Junxiang Wang, Ti Wu, Iulian I. Iordachita +1
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human acti…
Method for robotic motion compensation during PET imaging of mobile subjects
Junxiang Wang, Iulian I. Iordachita, Peter Kazanzides
Studies of the human brain during natural activities, such as locomotion, would benefit from the ability to image deep brain structures during these activities. While Positron Emis…
Haptic-Enhanced Virtual Reality Simulator for Robot-Assisted Femur Fracture Surgery
Fayez H. Alruwaili, David W. Halim-Banoub, Jessica Rodgers +5
In this paper, we develop a virtual reality (VR) simulator for the Robossis robot-assisted femur fracture surgery. Due to the steep learning curve for such procedures, a VR simulat…
Design and Experimental Evaluation of a Haptic Robot-Assisted System for Femur Fracture Surgery
Fayez H. Alruwaili, Michael P. Clancy, Marzieh S. Saeedi-Hosseiny +6
In the face of challenges encountered during femur fracture surgery, such as the high rates of malalignment and X-ray exposure to operating personnel, robot-assisted surgery has em…
Optical Fiber-Based Needle Shape Sensing in Real Tissue: Single Core vs. Multicore Approaches
Dimitri A. Lezcano, Yernar Zhetpissov, Alexandra Cheng +2
Flexible needle insertion procedures are common for minimally-invasive surgeries for diagnosing and treating prostate cancer. Bevel-tip needles provide physicians the capability to…
Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection
Alireza Alamdar, David E. Usevitch, Jiahao Wu +3
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor con…
Towards Deep Learning Guided Autonomous Eye Surgery Using Microscope and iOCT Images
Ji Woong Kim, Shuwen Wei, Peiyao Zhang +4
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography…
Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach +2
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of tar…
Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach +2
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement o…
Multi-Contact Force-Sensing Guitar for Training and Therapy
Zhiyi Ren, Chun-Cheng Hsu, Can Kocabalkanli +4
Hand injuries from repetitive high-strain and physical overload can hamper or even end a musician's career. To help musicians develop safer playing habits, we developed a multiplec…