INI: Electromagnetic needleless injector with halbach array towards intravitreal delivery

Electromagnetic needleless injector with halbach array towards intravitreal delivery IEEE Access 2017 Abstract The fear of pain and needles deter some patients from seeking intravitreal treatment, which drives our group to develop an needleless device for performing intravitreal injections. A prototype for an electro-magnetically actuated needleless injector, based on Halbach arrays, is described and characterized in a lab setting. The … Continue reading

Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand with Soft Fingers

IEEE ACCESS. PREPRINT VERSION. ACCEPTED Dec, 2017 Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand with Soft Fingers Ning Tan, Xiaoyi Gu, and Hongliang Ren Senior Member, IEEE Abstract—Soft robotics is a research field growing rapidly with primary focuses on the prototype design, development of soft robots and their applications. Due to their highly deformable features, it … Continue reading

Force/Torque Sensor for Tele-operated Catheterization Procedures

Abstract A tele-operated robotic catheterization system can significantly alleviate the surgeons from radiation exposure and fatigue resulted from long standing time with protective suits. Proximal force/torque signals imply the critical information about the contact forces between the catheter and its surrounding structures. This paper presents a compact, cost-effective force and torque sensing device suitable for catheterization procedures to measure the … Continue reading

Surgical Manipulator based on Parallel Mechanism

Abstract We presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, a bendable skeleton (2-DOF for Omni-directional bending motion), and a rotatable forceps gripper (1-DOF for rotation, 1-DOF for opening/closing). The bendable segment in the manipulator achieves two orthogonal bending DOFs by pulling or pushing three parallel universal-joint-based shaft chains. Forward and inverse kinematics of the bendable … Continue reading

Data-driven Learning Intelligent Control for Flexible Surgical Manipulators

Abstract Automate Surgical Tasks for A Flexible Serpentine Manipulator via Learning Actuation Space Trajectory from Demonstration Background: Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. Tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in MIS for its enhanced maneuverability in torturous environment. TSM, however, exhibits high nonlinearities and conventional analytical … Continue reading

Cardioscope

Abstract: We present a novel flexible endoscope (FE) which is well suited to minimally invasive cardiac surgery (MICS). It is named the cardioscope. The cardioscope is composed of a handle, a rigid shaft, a steerable flexible section, and the imaging system. The flexible section is composed of an elastic tube, a number of spacing disks, a constraint tube, and four … Continue reading

Shape Morphing Microscale Soft Robotic Actuators

Abstract The micro actuator has been studied for its application in micro operations such as manipulating cellular aggregate, the tissues or drug delivery. The traditional actuation methods include thermo-mechanical actuation, electromagnetic actuation, electrostatic actuation and pneumatic actuation. Among these actuation methods, pneumatic actuation has the advantage of not generating heat and current during actuation. We investigate 1) a streamlined and … Continue reading

Motion Planning of Flexible Manipulators by Learning from Human Expert Demonstrations

Abstract Motion Planning of Multiple-segment flexible soft, and continuum Flexible Manipulators by Learning from Human Expert Demonstrations Multiple-segment flexible and soft robotic actuators exhibit compliance but suffer from the difficulty of path planning due to their redundant degrees of freedom, although they are promising in complex tasks such as crossing body cavities to grasp objects. We propose a learning from … Continue reading

Ultrasound Assisted Guidance with Force Cues for Intravascular Interventions

Project Goals Image guidance during minimally invasive cardiovascular interventions is primarily achieved based on X-ray fluoroscopy, which has several limitations including limited 3D imaging, significant doses of radiation to operators, and lack of contact force measurement between the cardiovascular anatomy and interventional tools. Ultrasound imaging may complement or possibly replace 2D fluoroscopy for intravascular interventions due to its portability, safety, … Continue reading

Magnetically Actuated Guide-wire Steering

Project Goals Guide wires are commonly used to assist surgeons during vascular surgery. Guide wires are usually the first to be placed, eventually allowing easy exchange of surgical tools to the target site. The surgeon has to manually control and manipulate the guide wire to the target region. This process is complicated by the tortuous nature of the vasculature and … Continue reading