3D-Printed Soft Microrobot for Swimming in Biological Fluids

Qiu, Tian ;   Palagi, Stefano ;   Fischer, Peer

Tags Micro-and nano-bioroboticsNew technologies and methodologies in medical robotics and biomechanics

Microscopic artificial swimmers hold the potential to enable novel non-invasive medical procedures. In order to ease their translation towards...

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BCI-Based User Training in Surgical Robotics

Olivieri, Emidio ;   Barresi, Giacinto ;   Mattos, Leonardo

Tags Human machine interfaces and robotics applicationsSurgical roboticsBrain machine interfaces and robotics application

Human error is a critical risk in surgery, so an important aim of surgical robotic systems is to improve the performance and the safety of...

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Closed-Loop Asymmetric-Tip Needle Steering Under Continuous Intraoperative MRI Guidance

Patel, Niravkumar ;   van Katwijk, Tim ;   Li, Gang ;   Moreira, Pedro ;   Shang, Weijian ;   Misra, Sarthak ;   Fischer, Gregory

Tags Image guided surgeryComputer-assisted surgerySurgical robotics

Magnetic resonance imaging (MRI) provides excellent image contrast for various types of tissues, making it a suitable choice over other...

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Comfort and Learnability Assessment of a New Soft Robotic Manipulator for Minimally Invasive Surgery

Shafti, Ali ;   Andorno, Federica ;   Marchese, Nicola ;   Arolfo, Simone ;   Aydin, Abdullatif ;   Elhage, Oussama ;   Noh, Yohan ;   Wurdemann, Helge Arne ;   Arezzo, Alberto ;   Dasgupta, Prokar ;   Althoefer, Kaspar

Tags Surgical roboticsDesign and development of robots for human-robot interactionClinical robots

Laparoscopic surgeons perform precise and time consuming procedures while holding awkward poses in their upper body and arms. There is an...

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Computer-Assisted Single-Stage Cranioplasty

Murphy, Ryan J. ;   Wolfe, Kevin C. ;   Liacouras, Peter C. ;   Grant, Gerald T. ;   Gordon, Chad R. ;   Armand, Mehran

Tags Computer-assisted surgerySurgical roboticsPlanning and execution in surgical robotics

Cranioplasty treats and repairs cranial defects with a custom craniofacial implant (CCI). Typically, surgeons know the defect size prior to...

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Design and Development of Magnetorheological Fluid-Based Passive Actuator

Shokrollahi, Elnaz ;   Price, Karl ;   Drake, James ;   Goldenberg, Andrew A.

Tags Haptics in robotic surgeryRemote surgery systems / telesurgeryNew technologies and methodologies in medical robotics and biomechanics

We present the design and experimental validation of a magnetorheological (MR) fluid-based passive actuator for tele-robotic bone biopsy...

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Design and Evaluation of a Trilateral Shared-Control Architecture for Teleoperated Training Robots

Shamaei, Kamran ;   Kim, Lawrence H. ;   Okamura, Allison

Tags Haptics in robotic surgerySurgical roboticsHaptic interfaces

Multilateral teleoperated robots can be used to train humans to perform complex tasks that require collaborative interaction and expert...

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Design and Real-Time Control of a Robotic System for Fracture Manipulation

Dagnino, Giulio ;   Georgilas, Ioannis ;   Tarassoli, Payam ;   Atkins, Roger ;   Dogramadzi, Sanja

Tags Surgical roboticsRemote surgery systems / telesurgeryComputer-assisted surgery

This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the...

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Design Optimization of Neuroendoscopic Continuum Instruments for Third Ventriculostomy and Tumor Biopsy

Eastwood, Kyle ;   Looi, Thomas ;   naguib, Hani ;   Drake, James

Tags Surgical roboticsPlanning and execution in surgical roboticsImage guided surgery

A simulation-based approach to the design of procedure-specific dexterous neuroendoscopic continuum instruments for endoscopic third...

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Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted Surgery

Guo, Jing ;   Liu, Chao ;   Poignet, Philippe

Tags Remote surgery systems / telesurgerySurgical roboticsHaptics in robotic surgery

The advance of minimally invasive surgery has been empowered by new medical/surgical robotic systems towards achieving less invasiveness,...

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Haptic Interface for Robot-Assisted Ophthalmic Surgery

Barthel, Alexander ;   Trematerra, Diego ;   Nasseri, M. Ali ;   Zapp, Daniel ;   Lohmann, Chris ;   Knoll, Alois ;   Maier, Mathias

Tags Clinical robotsHaptic interfacesHuman machine interfaces and robotics applications

Vitreo-retinal surgery is challenging as delicate structures have to be manipulated. Eliminating tremor in human motions when doing...

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Master Device for Teleoperated Needle Insertion-Type Interventional Robotic System

Woo, Hyun Soo ;   Cho, Jang Ho ;   Kim, Chul Seung ;   Lee, Hyuk Jin

Tags Computer-assisted surgeryImage guided surgerySurgical robotics

This paper proposes a new master device for teleoperated needle insertion-type interventional robotic system. The 5-DOF master device is...

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Motion Prediction using Dual Kalman Filter for Robust Beating Heart Tracking

Yang, Bo ;   Liu, Chao ;   Poignet, Philippe ;   Zheng, Wenfeng ;   Liu, Shan

Tags Motion cancellation in surgical roboticsImage guided surgerySurgical robotics

A novel prediction method for robust beating heart tracking is proposed. The dual time-varying Fourier series is used to model the heart...

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Preliminary Analysis of Force-Torque Measurements for Robot-Assisted Fracture Surgery

Georgilas, Ioannis ;   Dagnino, Giulio ;   Tarassoli, Payam ;   Atkins, Roger ;   Dogramadzi, Sanja

Tags Dynamics in musculoskeletal biomechanicsNew technologies and methodologies in medical robotics and biomechanicsSurgical robotics

Our group at Bristol Robotics Laboratory has been working on a new robotic system for fracture surgery that has been previously reported...

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Preliminary Study for Motion Scaling based Control in Minimally Invasive Vascular Interventional Robot

Feng, Zhen-Qiu ;   Bian, Gui-Bin ;   Xie, Xiao-Liang ;   Hao, Jian-Long ;   Gao, Zhan-Jie ;   Hou, Zeng-Guang

Tags Surgical roboticsBiologically inspired locomotionPlanning and execution in surgical robotics

Robot-assisted vascular interventions present promising trend for reducing the X-ray radiation to the surgeon during the operation. However,...

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Redundancy Optimization Strategy for Hands-On Robotic Surgery

Barra, Beatrice ;   Beretta, Elisa ;   Nessi, Federico ;   Ferrigno, Giancarlo ;   De Momi, Elena

Tags Surgical roboticsComputer-assisted surgery

During hands-on cooperative surgery, the use of a redundant robot allows to address encumbrance issues in the Operating Room (OR), which...

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Requirements Analysis and Preliminary Design of a Robotic Assistant for Reconstructive Microsurgery

Vanthournhout, Léna ;   Herman, Benoît ;   Duisit, Jérôme ;   Château, François ;   Szewczyk, Jerome ;   Lengelé, Benoît ;   Raucent, Benoît

Tags Remote surgery systems / telesurgerySurgical roboticsHuman machine interfaces and robotics applications

Microanastomosis is a microsurgical gesture that involves suturing two very small blood vessels together. This gesture is used in many...

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Robot Assisted Stapedotomy Ex Vivo with an Active Handheld Instrument

Vendrametto, Tobia ;   McAfee, Jacob S. ;   Hirsch, Barry E. ;   Riviere, Cameron N. ;   Ferrigno, Giancarlo ;   De Momi, Elena

Tags Motion cancellation in surgical roboticsSurgical robotics

Micron is a fully handheld active micromanipulator that helps to improve position accuracy and precision in microsurgery by cancelling hand...

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Volumetric Compensation of Accuracy Errors in a Multi-Robot Surgical Platform

Vicentini, Federico ;   Magnoni, Paolo ;   Giussani, Matteo ;   Molinari Tosatti, Lorenzo

Tags Motion cancellation in surgical roboticsSurgical roboticsPlanning and execution in surgical robotics

A multi-robot platform, made of a hybrid parallel kinematic machine and 2 KUKA LWR arms, is dedicated to open skull neuro-surgical tasks....

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