Robot-assisted surgery is of growing interest in the surgical and engineering communities.
The use of robots allows surgery to be performed with precision using smaller instruments …

The insertion of the surgical needle in soft tissue has involved significant interest in the
current time because of its purpose in minimally invasive surgery (MIS) and percutaneous …

Cancer represents one of the main causes of death nowadays, due to a complex set of
uncontrollable natural and artificial factors. Huge efforts have been made by the entire …

Introduction: Preventive control is a critical feature in autonomous technology to ensure safe
system operations. One application where safety is most important is robot-assisted needle …

One of the most challenging phases in interstitial brachytherapy is the placement of the
needles. In these medical procedures, the needles are inserted inside the tissue to guide the …

In this paper, a Kalman filter for fractional order singular systems has been proposed. To
design the Kalman filter, the fractional order singular system is decomposed into two sub …

Precision interventional brachytherapy is a radiotherapy technique that combines radiation
therapy medicine with computer network technology, physics, etc. It can solve the limitations …

Objective: This paper describes an ultrasound image navigation robotic prostate
brachytherapy system. It uses a 2D ultrasound (US) probe rigidly fixed to a robotic needle …

An innovative approach in the treatment of cancer is brachytherapy, or local radiation
therapy. This technique can deliver targeted doses in very specific body areas but the lack of …

Safety critical events in robotic applications can often be characterized by forces between
the robot end-effector and the environment. One application in which safe interaction …