A5053935717- Soft Robotics and Applications
- Surgical Simulation and Training
- Teleoperation and Haptic Systems
- Modular Robots and Swarm Intelligence
- Additive Manufacturing and 3D Printing Technologies
- Robot Manipulation and Learning
- Advanced Vision and Imaging
- Image Processing Techniques and Applications
- Gastrointestinal Bleeding Diagnosis and Treatment
- Diabetic Foot Ulcer Assessment and Management
- Advanced Materials and Mechanics
- Innovations in Concrete and Construction Materials
- Intraoperative Neuromonitoring and Anesthetic Effects
- Micro and Nano Robotics
- Shoulder Injury and Treatment
- Laser Applications in Dentistry and Medicine
University of Basel
2018-2024
Abstract Haptic feedback is typically missing during telemanipulation of surgical robots in minimally invasive surgeries, i.e., surgeons cannot feel the interaction forces between instruments and tissues. Instead, have to solely rely on visual feedback, which increases complexity guiding poses safety threat unperceivable contacts outside field view. We propose a novel series elastic actuation design for articulated robotic endoscopes overcome these limitations evaluate an according device...
Abstract Force feedback is currently missing in most surgical robot systems, even though it would be essential for many tasks, such as palpating tissue. In this study, we used a previously developed robotic endoscope based on series elastic actuation and tested the feasibility of using force with pilot study. The participants had lower test time (−27%) applied forces (−23%) enabled. While further studies are needed validation realistic scenarios, these results suggest improved safety...
This work was done in the framework of MIRACLE project devoted to development a flexible, articulated robotic endoscope perform laser osteotomies (bone cutting). In order control this robot with required accuracy 0.2 mm at tip position, tracking system needs feed back pose and shape endoscope. One possible designs such is based on an device that can be tracked by measuring bending angle each joint. Recently, we presented (Iafolla et al., 2018) novel angular sensor called ASTRAS (Angular...
When performing minimally invasive surgeries, surgeons are currently restricted by the rigidity and limited maneuverability of their tools. The tools could be extended joints to provide additional degrees freedom. However, manually controlling movement distal is challenging since effective interaction forces at tip difficult feel. Therefore, manipulation increase can lead risks for harming patient. To overcome while providing inherent safety, we propose a novel concept tool actuation based...
Micro-additive manufacturing techniques have the potential to meet demand for miniaturised functional components minimally invasive surgical instruments. These create monolithic, compliant mechanisms with micro-sized free-form structures that can be tailored patient-specific procedures. The automated design synthesis of using building blocks results in are shape-programmable. This is achieved through an algorithmic-based computational workflow, which automatically converts user-specified 2D...