This review examines the dichotomy between automatic and autonomous behaviors in
surgical robots, maps the possible levels of autonomy of these robots, and describes the …

Emerging paradigms furthering the reach of medical technology into human anatomy
present unique modeling, control, and sensing problems. This review provides a brief history …

In surgical tumor removal, inaccurate localization can lead to removal of excessive healthy
tissue and failure to completely remove cancerous tissue. Automated palpation with a tactile …

Ultrasound scanning is an imaging technique that aids medical professionals in diagnostics
and interventional procedures. However, a trained human-in-the-loop (HITL) with a …

Robot-assisted minimally invasive surgery (RMIS) has become increasingly popular in the
resection of cancers. However, the lack of tactile feedback in clinical RMIS limits the …

The surge of interest in haptic technology is due to inspirational advances in the robotic-
assisted surgical system, where haptics has the role of delivering tactile feedback for …

The surgical paradigm of minimally invasive surgery (MIS) has been a key driver to the
adoption of robotic surgical assistance. Progress in the last three decades has led to a …

Medical palpation is a diagnostic technique in which physicians use the sense of touch to
manipulate the soft human tissue. This can be done to enable the diagnosis of possibly life …

Continuum robots have been attracting extensive attentions in the past few years due to their
potential applications in minimally invasive surgery (MIS). Force sensing is critical in surgical …

This letter presents a whole-body robot control method for exploring and probing a given
region of interest. The ergodic control formalism behind such an exploration behavior …