Simultaneous shape and tip force sensing for the coast guidewire robot
Placement of catheters in minimally invasive cardiovascular procedures is preceded by
navigating to the target lesion with a guidewire. Traversing through tortuous vascular …
navigating to the target lesion with a guidewire. Traversing through tortuous vascular …
Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots
H Huang, Z Shi, X Gao, J Zhou, T Yu… - Advanced Intelligent …, 2024 - Wiley Online Library
In this study, an innovative exploration of leveraging bionics and continuum robotics
principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by …
principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by …
Model-based design of the COAST guidewire robot for large deflection
Minimally invasive endovascular procedures involve the manual placement of a guidewire,
which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable …
which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable …
Accurate and flexible shape sensing of shell structures with polygonal inverse finite element method
S Zhang, X Xiao, H Chen, J Xuan - Computers & Structures, 2025 - Elsevier
Abstract The inverse Finite Element Method (iFEM) based on triangular and quadrilateral
elements faces significant challenges in complex shell structures due to slow convergence …
elements faces significant challenges in complex shell structures due to slow convergence …
Shape reconstruction of soft continuum robots via the fusion of local strains and global poses
Soft continuum robots are gaining increasing attention for their high dexterity, and shape
reconstruction is one of the key techniques. Here, we propose a shape-reconstruction …
reconstruction is one of the key techniques. Here, we propose a shape-reconstruction …
Uncertainty-aware shape estimation of a surgical continuum manipulator in constrained environments using fiber bragg grating sensors
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive
surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure …
surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure …
Towards a Tendon-Assisted Magnetically Steered (TAMS) Robotic Stylet for Brachytherapy
P Kheradmand, B Moradkhani, H Jella… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Interstitial brachytherapy requires up to 20 straight needles to surround and irradiate deep-
seated tumors, but may offer sub-optimal radiation dosage in cases of advanced cancers. A …
seated tumors, but may offer sub-optimal radiation dosage in cases of advanced cancers. A …
Electrical Bio-Impedance Sensing-Based Microcatheter Alignment in CTO-PCI
Percutaneous coronary intervention (PCI) is increasingly utilized for treating chronic total
occlusion (CTO) coronary arteries. When direct passage through the occlusion is not …
occlusion (CTO) coronary arteries. When direct passage through the occlusion is not …
Fully Distributed Shape Sensing of a Flexible Surgical Needle Using Optical Frequency Domain Reflectometry for Prostate Interventions
J Francoeur, D Lezcano, Y Zhetpissov… - … on Robotics and …, 2024 - ieeexplore.ieee.org
In minimally invasive procedures such as biopsies and prostate cancer brachytherapy,
accurate needle placement remains challenging due to limitations in current tracking …
accurate needle placement remains challenging due to limitations in current tracking …
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely
investigated for shape reconstruction and force estimation of flexible surgical robots …
investigated for shape reconstruction and force estimation of flexible surgical robots …