Jessica Burgner,D Caleb Rucker,Hunter B Gilbert et al.
Jessica Burgner et al.
Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these robots to a variety of real-world clinical scenarios. Endonasal skull base surgery is...
Dan Stoianovici,Chunwoo Kim,Felix Schäfer et al.
Dan Stoianovici et al.
We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. B...
Yanan Huang,Peng Cheng,Chia-Hsiang Menq
Yanan Huang
This paper presents the design of an adaptive observer that is implemented to enable real-time dynamic force sensing and parameter estimation in an optically trapped probing system. According to the principle of separation of estimation and...
Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation [0.03%]
一种用于磁性微米颗粒操作的三维磁场驱动器的设计与建模
Zhipeng Zhang,Chia-Hsiang Menq
Zhipeng Zhang
This paper presents the design, implementation, modeling, and analyses of a hexapole magnetic actuator that is capable of 3-D manipulation of a magnetic microbead. The magnetic actuator employs six sharp-tipped magnetic poles placed in hexa...
Estimation of Soft Tissue Mechanical Parameters from Robotic Manipulation Data [0.03%]
基于机器人操作数据的软组织机械参数估计
Pasu Boonvisut,M Cenk Cavuşoğlu
Pasu Boonvisut
Robotic motion planning algorithms used for task automation in robotic surgical systems rely on availability of accurate models of target soft tissue's deformation. Relying on generic tissue parameters in constructing the tissue deformation...
Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery [0.03%]
单端口接入手术插入式机器人操作器平台的设计与协调运动学研究
Jienan Ding,Roger E Goldman,Kai Xu et al.
Jienan Ding et al.
Single port access surgery (SPAS) presents surgeons with added challenges that require new surgical tools and surgical assistance systems with unique capabilities. To address these challenges, we designed and constructed a new insertable ro...
Design of a Tool Integrating Force Sensing With Automated Insertion in Cochlear Implantation [0.03%]
一种集力感应与自动植入于一体的 cochlear 植工具的设计
Daniel Schurzig,Robert F Labadie,Andreas Hussong et al.
Daniel Schurzig et al.
The quality of hearing restored to a deaf patient by a cochlear implant in hearing preservation cochlear implant surgery (and possibly also in routine cochlear implant surgery) is believed to depend on preserving delicate cochlear membranes...
Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention [0.03%]
一种用于磁共振引导前列腺干预的可动磁兼容机器人系统的研究与评估
Axel Krieger,Sang-Eun Song,Nathan B Cho et al.
Axel Krieger et al.
This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI-g...
Design and Control of a 1-DOF MRI Compatible Pneumatically Actuated Robot with Long Transmission Lines [0.03%]
一种基于长传输机构的单自由度磁共振兼容气动机器人设计与控制方法研究
Bo Yang,U-Xuan Tan,Alan McMillan et al.
Bo Yang et al.
This paper presents the design and control of an MRI-compatible 1-DOF needle driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging...
Design Principles for Rapid Prototyping Forces Sensors using 3D Printing [0.03%]
基于3D打印的快速制作力传感器的设计原则
Samuel B Kesner,Robert D Howe
Samuel B Kesner
Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting in sensors with exces...