In the past two decades, bilateral teleoperation with haptic feedback has attracted great
research and application interests in both robotics and other areas. Initially triggered by the …

Robots are being used more and more in surgery due to the many benefits they bring (eg
reduction of patient discomfort, precision, reliability). Remote robotic surgery is now …

Purpose This work presents the design and preliminary validation of a Magnetic Resonance
(MR) conditional robot for lumbar injection for the treatment of lower back pain. Methods This …

In lumbar puncture surgeries, force and position information throughout the insertion
procedure is vital for needle tip localization, because it reflects different tissue properties …

The article offers tools description for automated vein puncture control system. The analysis
of control methods and their comparison with the developed hardware-software complex …

An iterative synthesizing strategy for robust force reflecting control of a Haptic exploration
device is proposed. The proposed strategy guarantees the robust stability of the closed loop …

Background Saturated biopsy is widely used in a histopathological examination of prostate
biopsy surgery by expanding the target regions and the increasing the number of insertions …

In this paper, a decentralized control structure is proposed based on ℋ∞ robust control
synthesis for teleoperated needle insertion in an iterative approach. Since the teleoperation …

This article discusses the possibility of using the capacitive properties of biological tissues to
determine automatically the position of an injection needle. The relevance of this problem is …

Interaction control has gained importance with the increasing prevalence of robots
interacting with humans. Among the available options, impedance and admittance control …