Asghar Ataollahi,Ignacio Berra,Nikolay V Vasilyev et al.
Asghar Ataollahi et al.
This paper describes an instrument that provides solutions to two open challenges in beating-heart intracardiac surgery - providing high-fidelity imaging of tool-tissue contact and controlling tool penetration into tissue over the cardiac c...
An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback [0.03%]
一种基于视觉和压力反馈的自动化鼠标尾血管通路系统
Yen-Chi Chang,Brittany Berry-Pusey,Rashid Yasin et al.
Yen-Chi Chang et al.
This paper develops an automated vascular access system (A-VAS) with novel vision-based vein and needle detection methods and real-time pressure feedback for murine drug delivery. Mouse tail vein injection is a routine but critical step for...
Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy [0.03%]
用于磁共振引导的前列腺经皮治疗的压电驱动机器人系统
Hao Su,Weijian Shang,Gregory Cole et al.
Hao Su et al.
This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgica...
Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions [0.03%]
基于MRI引导介入操作的实时三维针形和偏斜估计方法研究
Yong-Lae Park,Santhi Elayaperumal,Bruce Daniel et al.
Yong-Lae Park et al.
We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatment...
Tendon-Driven Continuum Robot for Endoscopic Surgery: Preclinical Development and Validation of a Tension Propagation Model [0.03%]
一种用于内窥镜手术的肌腱驱动连续体机器人：张力传递模型的预临床研发与验证
Takahisa Kato,Ichiro Okumura,Sang-Eun Song et al.
Takahisa Kato et al.
In this paper, we present a tendon-driven continuum robot for endoscopic surgery. The robot has two sections for articulation actuated by tendon wires. By actuating the two sections independently, the robot can generate a variety of tip pos...
A Multigrasp Hand Prosthesis for Providing Precision and Conformal Grasps [0.03%]
一种既能精准抓握又能贴合抓握的多指灵巧假手
Daniel A Bennett,Skyler A Dalley,Don Truex et al.
Daniel A Bennett et al.
This paper presents the design of an anthropomorphic prosthetic hand that incorporates four motor units in a unique configuration to explicitly provide both precision and conformal grasp capability. The paper describes the design of the han...
Yue Chen,Christopher D Mershon,Zion Tsz Ho Tse
Yue Chen
Magnetic resonance (MR) conditional robotic devices facilitate accurate interventional procedures under MR imaging (MRI) guidance. For this purpose, a compact (10-mm diameter) MR-conditional stepper motor is presented. The device features s...
Manipulator Design and Operation for a Six-Degree-of-Freedom Handheld Tremor-Canceling Microsurgical Instrument [0.03%]
一种六自由度手持震颤抵消显微外科手术器械的机械手设计与操作研究
Sungwook Yang,Robert A MacLachlan,Cameron N Riviere
Sungwook Yang
This paper presents the design and actuation of a six-degree-of-freedom (6-DOF) manipulator for a handheld instrument, known as "Micron," which performs active tremor compensation during microsurgery. The design incorporates a Gough-Stewart...
Dan Stoianovici,Chunwoo Kim,Govindarajan Srimathveeravalli et al.
Dan Stoianovici et al.
This paper reports the development of an MRI-Safe robot for direct (interventional) MRI-guided endorectal prostate biopsy. The robot is constructed of nonmagnetic and electrically nonconductive materials, and is electricity free, using pneu...
Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function [0.03%]
一种具有多模式药物释放功能的磁驱动软胶囊机器人
Sehyuk Yim,Kartik Goyal,Metin Sitti
Sehyuk Yim
In this paper, we present a magnetically actuated multimodal drug release mechanism using a tetherless soft capsule endoscope for the treatment of gastric disease. Because the designed capsule has a drug chamber between both magnetic heads,...