In minimally invasive endovascular procedures, surgeons rely on catheters with low
dexterity and high aspect ratios to reach an anatomical target. However, the environment …

Cardiac catheters allow physicians to access the inside of the heart and perform therapeutic
interventions without stopping the heart or opening the chest. However, conventional …

3D ultrasound imaging has enabled minimally invasive, beating heart intracardiac
procedures. However, rapid heart motion poses a serious challenge to the surgeon that is …

Force feedback has been suggested to provide a number of benefits to surgery. Few studies,
however, have addressed the benefit of force feedback in the context of the complexities of …

Operators' intelligent and skillful decisions are necessary for the teleoperation of a mobile
robot when there are many scattered obstacles. Among the sensors used for environment …

This paper presents a novel modeling framework for contact detection and estimation of
contact location on multi-backbone continuum robots. The paper presents modified …

Microneurosurgery requires dexterity, precision and delicate force application in order to be
carried out safely and effectively. Neurosurgeons must apply sufficient force in order to carry …

The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons
to perform delicate minimally invasive procedures with high precision under stereoscopic …

A novel switched-impedance control method is proposed and implemented for telerobotic
beating-heart surgery. Differing from cardiopulmonary-bypass-based arrested-heart surgery …

New 3D ultrasound visualization has enabled minimally invasive, beating-heart intracardiac
procedures. However, rapid motion of internal heart structures limits the realization of these …