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

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

Body-Attached Soft Robot for Ultrasound Imaging

Project Goals Ultrasound imaging procedures are deemed as one of the most convenient and least invasive medical diagnostic imaging modalities and have been widely utilized in health care providers, which are expecting semiautomatic or fully-automatic imaging systems to reduce the current clinical workloads. This paper presents a portable and wearable soft robotic system which has been designed with the purpose … Continue reading

BIOROB2016 Workshop in Surgical Robotics

BIOROB 2016 workshop in surgical robotics Organizing Chairs: Hongliang Ren (Singapore), Kevin Cleary (USA) Themes Image-Guided Therapy Interventional Devices Human-in-the-loop System Computer-Assisted Surgery Multi-modal sensor fusion Human-Robot Interactions Soft Robotics in Surgery Artificial Intelligence in Robotic Surgery Date: June 26 (Sunday), 9:30 AM ~ 5:30 PM (BIOROB2016 Program[.pdf]) Morning session: 09:30-12:30 (with 30 minutes for each talk and one coffee break) … Continue reading

FYP: Towards Magnetic Actuated Drug Delivery

Project Goals The objectives of this project are to design and evaluate the performance of an electromagnetic actuated (EMA) drug delivery system and explore the related issues. Approaches The EMA system consists of magneto-responsive microcapsules as drug carriers, a coil system with controlled currents flowing through, as well as a tracking algorithm for close loop feedback control. The magneto-responsive and … Continue reading

Simultaneous Hand-Eye, Tool-Flange and Robot-Robot Calibration for Co-manipulators by Solving AXB=YCZ Problem

Abstract Multi-robot co-manipulation shows great potential to address the limitations of using single robot in complicated tasks such as robotic surgeries. However, the dynamic setup poses great uncertainties in the circumstances of robotic mobility and unstructured environment. Therefore, the relationships among all the base frames (robot-robot calibration) and the relationships between the end-effectors and the other devices such as cameras (hand-eye calibration) … Continue reading

Surgical Tracking System for Laparoscopic Surgery

Collaborators: ERC-CISST, LCSR Lab of Johns Hopkins University, USA Fraunhofer Germany (FhG) Laparoscopic surgery poses a challenging problem for a real-time intra-body navigation system: how to keep tracking the surgical instruments inside the human body intra-operatively. This project aims to develop surgical tracking technology that is accurate, robust against environmental disturbances, and does not require line-of-sight. The current approach is … Continue reading