Optical biosensors integrated into catheter systems enable highly sensitive, multiplexed, and
real-time detection of biochemical analytes and physiological parameters within the body …

Contact force sensing is an important means to ensure the safe operation of surgical robots.
This paper presents a miniature triaxial force sensor based on fiber Bragg grating (FBG) for …

Background This paper proposes a haptic guidance system to improve catheter navigation
within a simulated environment. Methods Three force profiles were constructed to evaluate …

Minimally invasive surgery (MIS) is increasingly employed in several medical disciplines.
During minimal invasive cardiovascular approaches, flexible instruments, such as catheters …

We propose a novel three-dimensional (3D) contact-force sensing probe that incorporates
PDMS microcavities fabricated at the end face of a multicore fiber using the lift-and-pull …

This thesis explores two significant aspects of robotic-assisted surgeries. The first part
focuses on a procedure called Robotic Catheter Ablation, which utilizes robots to treat a …

The interaction between flexible instrument bodies and surrounding deformable lumens is
intrinsically complex and hard to oversee if not explicitly measured. This project identifies …