A5024536966- Soft Robotics and Applications
- Surgical Simulation and Training
- Teleoperation and Haptic Systems
- Robot Manipulation and Learning
- Cerebral Palsy and Movement Disorders
- Anatomy and Medical Technology
- Shoulder Injury and Treatment
- Advanced Radiotherapy Techniques
- Stroke Rehabilitation and Recovery
- Tactile and Sensory Interactions
- Assistive Technology in Communication and Mobility
- Advanced MRI Techniques and Applications
- Advanced X-ray and CT Imaging
- Robotics and Sensor-Based Localization
- Glioma Diagnosis and Treatment
- Prosthetics and Rehabilitation Robotics
- Ear Surgery and Otitis Media
- Botulinum Toxin and Related Neurological Disorders
- Autism Spectrum Disorder Research
- Nasal Surgery and Airway Studies
- Cardiac Valve Diseases and Treatments
- Family and Disability Support Research
- Gaze Tracking and Assistive Technology
- Robotic Path Planning Algorithms
- Ultrasound in Clinical Applications
Children's National
2016-2025
George Washington University
2023-2024
University of Maryland, College Park
2023
University of the District of Columbia
2023
Georgetown University Medical Center
2023
Georgetown University
2023
MedStar Health
2023
Islamic Azad University South Tehran Branch
2011-2015
Islamic Azad University, Tehran
2014
Amirkabir University of Technology
2006-2014
The goal of this work is to develop an innovative method that combines bioprinting and endoscopic imaging repair tympanic membrane perforations (TMPs). TMPs are a serious health issue because they can lead both conductive hearing loss repeated otitis media. occur in 3–5% cases after ear tube placement, as well acute media (the second most common infection pediatrics), chronic with or without cholesteatoma, result barotrauma the ear. About 55,000 tympanoplasties, surgery performed reconstruct...
Abstract Background Robotically assisted minimally invasive surgery can offer many benefits over open and laparoscopic surgery. However, currently, there is no force sensing feedback. Methods This research was implemented using the da Vinci kit. An external estimation implementation method proposed based on dynamics motor currents. The of Patient Side Manipulator modeled. dynamic model linearly parameterized. principle derived. parameters were experimentally identified a least squares...
Abstract Magnetic resonance imaging (MRI) can provide high contrast soft tissue visualization without ionizing radiation, which makes it an attractive modality for interventional procedures. However, the strong magnetic and radio frequency (RF) fields impose significant challenges to development of robotic systems within environment. Consequently, designing MRI-compatible actuators is crucial advancing MRI-guided systems. This paper reports design, control, characterization a gear-based...
Soft robotics are robotic systems made of materials that similar in softness to human soft tissues. Recent medical robot designs, including rehabilitation, surgical, and diagnostic robots, categorized by application reviewed for functionality. Each design is analyzed engineering characteristics clinical significance. Current technical challenges fabrication, sensor integration, control discussed. Future directions portable robust actuation power sources, adoptability, regulatory issues summarized.
A novel compact and lightweight patient-mounted MRI-compatible robot has been designed for MRI image-guided interventions. This is intended to enable MRI-guided needle placement as done in shoulder arthrography. The could make more accurate simplify the current workflow by converting traditional two-stage arthrography procedure (fluoroscopy-guided insertion followed a diagnostic scan) one-stage (streamlined all suite). 4 degrees of freedom (DOF), two orientation positioning. mechanical...
This paper presents a robust hybrid force/position control scheme of two cooperative manipulators handling an unknown object interacting with environment. The uncertainty the is considered in weight, length, and position centre mass (COM). environment assumed to have but high stiffness. A algorithm designed for known system case. exponential convergence interaction force proved using Lyapunov direct method. Similarly, case, presence bounded disturbances on robots object, adaptive sliding...
Background. Quantitative ultrasound measures are influenced by multiple external factors including examiner scanning force. Force feedback may foster the acquisition of reliable morphometry under a variety conditions. The purpose this study was to determine reliability force-feedback image and over range examiner-generated forces using muscle tissue-mimicking phantom. Methods. Sixty material thickness were acquired from tissue mimicking phantom B-mode six examiners with varied experience...
During prostate needle insertion, the gland rotates and displaces resulting in placement inaccuracy. To compensate for this error, we proposed master-slave steering under real-time MRI a previous study. For MRI-compatibility accurate motion control, master (and slave) robot uses piezo actuators. These actuators however, are non-backdrivable. cope with issue, force sensor is required. Force also required at slave side to reflect insertion clinician's hand through robot. Currently, there no...
SUMMARY This paper presents a new observer-based adaptive controller for handling an object with unknown geometry, center of mass, and inertia using cooperative robotic system. The system comprises three Cartesian robots, where robots the grasped form closed-loop kinematic chain. is approximated by virtual links lengths rigidly attached to one another at object's mass (COM). Due COM object, these are unknown, resulting in dynamic uncertainties control A parameter estimator proposed estimate...
This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the is optimized to be light weight and compact such that it could mounted patient body. It has modular can adopted assisting various image-guided, needle-based interventions as arthrography, biopsy brachytherapy seed placement. control system are designed manufactured with components compatible imaging modalities including Magnetic Resonance...
This paper introduces a body mounted robotic system for MRI-guided shoulder arthrography in pediatric patients. manipulator is optimized being accurate yet light enough to perform the contrast agent injection and joint examination imaging inside MRI bore. The has 4 degrees of freedom (DOF) providing insertion trajectory needle. In procedures, injected under fluoroscope guidance resulting radiation exposure which should be avoided Also after typically images are acquired two stage procedure....
A new version of our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot for MRI-guided arthrography procedures is introduced. This could convert the traditional two-stage procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to one-stage procedure, all in suite. The results recent accuracy study are reported. mounting technique proposed stability investigated using optical electromagnetic tracking on an anthropomorphic phantom....
In this paper we introduce a remotely actuated MRI-compatible needle driving device for pain injections in the lower back. This is able to manipulate inside closed-bore MRI scanner under control of interventional radiologist both room and console room. The consists 2 degrees freedom (DOF) driver an actuation box. 2-DOF placed bore driven by box settled at end table through beaded chain transmission. novel remote design could reduce weight profile that mounted on patient, as well minimize...
This paper presents an intraoperative MRI-guided, patient-mounted robotic system for shoulder arthrography procedures in pediatric patients. The robot is designed to be compact and lightweight constructed with nonmagnetic materials MRI safety. Our goal transform the current two-step procedure (CT/x-ray-guided needle insertion followed by diagnostic MRI) into a streamlined single-step ionizing radiation-free under guidance. MR-conditional was evaluated Thiel embalmed cadaver study healthy...