The modeling of forces during needle insertion into soft tissue is important for accurate surgical simulation, preoperative planning, and intelligent robotic assistance percutaneous therapies. We present a force model experimental procedures acquiring data from ex vivo to populate that model. Data were collected bovine livers using one-degree-of-freedom robot equipped with load cell attachment. computed tomography imaging was used segment the process phases identifying different relative...

Across kingdoms and length scales, certain cells organisms navigate their environments not through locomotion but growth. This pattern of movement is found in fungal hyphae, developing neurons, trailing plants, characterized by extension from the tip body, change hundreds percent, active control growth direction. results abilities to move tightly constrained form useful three-dimensional structures body. We report a class soft pneumatic robot that capable basic this behavior, growing...

Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force tactile) feedback to the operator. This paper describes experiments characterize this problem, as well several methods provide in order improve performance. There exist variety of sensing control that enable feedback, although number practical considerations, e.g. cost, complexity...

Presents an overview of research in dexterous manipulation. We first define robotic manipulation comparison to traditional robotics and human Next, kinematics, contact types forces are used formulate the problem. Dexterous motion planning is described, which includes grasp quality measures. look at mid- low-level control frameworks, then compare versus exploration. Finally, we list accomplishments different areas research, highlight important for future work.

This article reviews the technology behind creating artificial touch sensations and relevant aspects of human touch. We focus on design control haptic devices discuss best practices for generating distinct effective sensations. Artificial can present information to users, help them complete a task, augment or replace other senses, add immersiveness realism virtual interactions. examine these applications in context different feedback modalities forms that take. prior work, limitations,...

The tip asymmetry of a bevel-tip needle results in the naturally bending when it is inserted into soft tissue. This enables robotic steering, which can be used medical procedures to reach subsurface targets inaccessible by straight-line trajectories. However, accurate path planning and control steering require models needle-tissue interaction. Previous kinematic required empirical observations each tissue combination order fit model parameters. study describes mechanics-based predict...

Soft continuum robots exhibit access and manipulation capabilities in constrained cluttered environments not achievable by traditional robots. However, navigation of these can be difficult due to the kinematics devices. Here we describe design, modeling, control a soft robot with tip extension degree freedom. This design enables extremely simple through decoupled steering forward movement. To navigate destination, is steered point at destination freedom used reach it. Movement always...

We present the design and implementation of a vision-based system for cooperative manipulation at millimeter to micrometer scales. The is based on an admittance control algorithm that implements broad class guidance modes called virtual fixtures. A fixture, like real limits motion tool prescribed or range motions. describe how both hard (unyielding) soft (yielding) fixtures can be implemented in this framework. then detail construction point positioning curve following as well extensions...

We have developed a new class of continuously flexible snake-like robots, called active cannulas, that consist several telescoping pre-curved superelastic tubes. The devices derive bending actuation not from tendon wires or other external mechanisms, but elastic energy stored in the backbone itself. This allows cannulas to small diameter and high degree dexterity, which should enable them navigate through complex anatomy sites inaccessible by current surgical robotic devices. Active may also...

Robotic surgical systems have greatly contributed to the advancement of minimally invasive endoscopic surgery. However, current robotic do not provide tactile or haptic feedback operating surgeon. Under certain circumstances, particularly with manipulation delicate tissues and suture materials, this may prove be a significant irritation. We hypothesize that feedback, in form sensory substitution, facilitates performance knot tying. This preliminary study describes evidence visual...

We explore motion planning for a new class of highly flexible bevel-tip medical needles that can be steered to previously unreachable targets in soft tissue. Planning these procedures is difficult because the bend during insertion and cause surrounding tissues displace deform. In this paper, we develop algorithm into with obstacles 2D imaging plane. Given an initial needle plan specifying location, orientation, bevel rotation, distance, planner combines tissue modeling numerical optimization...

Reality-based modeling of vibrations has been used to enhance the haptic display virtual environments for impact events such as tapping, although bandwidths many displays make it difficult accurately replicate measured vibrations. We propose modifying reality-based vibration parameters through a series perceptual experiments with display. created feedback model, decaying sinusoidal waveform, by measuring acceleration stylus three degree-of-freedom human user tapped on several real materials....

The "virtual wall" is the most common building block used in constructing haptic virtual environments. A wall typically based on a simple spring model, with unilateral constraints that allow user to make and break contact surface. There are number of factors (sample-and-hold, device dynamics, sensor quantization, etc.) cause walls demonstrate active (nonpassive) behavior, destroying illusion reality. In this paper, we find an explicit upper bound stiffness necessary sufficient condition for...

Vibrations can significantly enhance touch perception for virtual environment applications with minimal design complexity and cost. In order to create realistic vibrotactile feedback, we collected vibrations, forces, velocities during various tasks executed a stylus: tapping on materials, stroking textures, puncturing membranes. Empirical models were fit these waveforms library of model parameters was compiled. These simulated involving simultaneous display forces vibrations high-bandwidth...

Many medical procedures involve the use of needles, but targeting accuracy can be limited due to obstacles in needle's path, shifts target position caused by tissue deformation, and undesired bending needle after insertion. In order address these limitations, we have developed robotic systems that actively steer a soft tissue. A bevel (asymmetric) tip causes bend during insertion, steering is enhanced when very flexible. An experimental robot was designed includes force/torque sensing,...

Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, considered to be one the simplest most minimally invasive procedures. Robot-assisted needle steering has potential improve effectiveness existing procedures enable new ones by allowing increased accuracy through more dexterous control needle-tip path acquisition targets not accessible straight-line trajectories. In this article, we describe robot-assisted needle-steering system that...

In contrast to the industrial robots, first developed 50 years ago, automate dirty, dull, and dangerous tasks, today's medical health-care robots are designed for entirely different environments tasks—those that involve direct interaction with human users in surgical theater, rehabilitation center, family room. Commercial research interest robotics has seen substantial growth last decade. Telerobotic systems being routinely used perform surgery, resulting shorter recovery times more reliable...

Fine needles facilitate diagnosis and therapy because they enable minimally invasive surgical interventions. This paper formulates the problem of steering a very flexible needle through firm tissue as nonholonomic kinematics problem, demonstrates how planning can be accomplished using diffusion-based motion on Euclidean group, SE(3). In present formulation, is treated isotropic no obstacles are present. The bevel tip constraint that viewed 3D extension standard kinematic cart or unicycle. A...

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for soft continuum robot. The robot consists of three sPAMs arranged radially around tubular backbone. Analogous to tendons, the exert tension force on robot's backbone, causing bending that is approximately constant curvature. Unlike traditional tendon driven robot, entirely contains no hard components, making it safer human interaction. Models both sPAM kinematics are presented experimentally...