Percutaneous nephrolithotomy is the gold standard for the treatment of renal stones larger
than 20 mm in diameter. The treatment outcomes of PCNL are highly dependent on the …

Variable admittance control is commonly used for a collaborative robot to achieve the
compliant or accurate cooperation according to human's intention. However, existing …

Percutaneous nephrolithotomy (PCNL) is considered the gold standard for the treatment of
patients with renal stones larger than 20 mm in diameter. The success and treatment …

During percutaneous nephrolithotomy (PCNL) operations, the surgeon is required to define
the incision point on the patient's back, align the needle to a preplanned path, and perform …

During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define
the incision point on the patient's back, align the needle to a pre-planned path, and perform …

Percutaneous nephrolithotomy (PCNL) is the current standard of care for patients with a total
renal stone burden 20 mm. Gaining access to the kidney is a crucial step, as the position of …

There has been an increasing demand for physical human-robot collaboration during the
design prototyping phase. For example, users would like to maneuver the end-effector …

Ultrasonography is one of the most common intraoperative imaging modalities for image-
guided procedures in clinical practice. However, the quality of the ultrasound image …

There has been an increasing demand to automate the non-patient care matters so that the
clinical staff can focus on delivering patient care. For example, out-patients undergoing …

Purpose Intraoperative optical coherence tomography (iOCT) was recently introduced as a
new modality for ophthalmic surgeries. It provides real-time cross-sectional information at a …