A5013010734- Surgical Simulation and Training
- Soft Robotics and Applications
- Augmented Reality Applications
- Micro and Nano Robotics
- Microfluidic and Bio-sensing Technologies
- Optical Coherence Tomography Applications
- Anatomy and Medical Technology
- Advanced Measurement and Metrology Techniques
- Modular Robots and Swarm Intelligence
- Tracheal and airway disorders
- Molecular Communication and Nanonetworks
- Characterization and Applications of Magnetic Nanoparticles
- Laser Material Processing Techniques
- 3D Surveying and Cultural Heritage
- Central Venous Catheters and Hemodialysis
- Robotic Locomotion and Control
- Retinal and Macular Surgery
- Ocular Surface and Contact Lens
- Cerebrospinal fluid and hydrocephalus
- Robotic Path Planning Algorithms
- Head and Neck Surgical Oncology
- Biomimetic flight and propulsion mechanisms
- Intraocular Surgery and Lenses
- Digital Imaging in Medicine
- Plant Surface Properties and Treatments
Italian Institute of Technology
2017-2023
Sabancı Üniversitesi
2013-2017
We present a computational fluid dynamics (CFD) model for the swimming of micro organisms with single helical flagellum in circular channels. The CFD is developed to obtain numerical solutions Stokes equations three dimensions, validated experiments reported literature, and used analyze effects geometric parameters, such as radius, wavelength, radii channel tail length on forward lateral velocities, rotation rates, efficiency swimmer. Optimal shapes speed power are reported. Effects Brownian...
Robotic telesurgery is a new concept in surgical care that has gained relevance over the past two decades. Now, with introduction of 5G mobile networks, this becoming practical. Here, we report surgeons successfully performed complex transoral laser microsurgeries on vocal cords an adult human cadaver located 15 km away from them. This was possible thanks to high bandwidth and ultra-low latency telecommunication system, which allowed for precise remote control robotic instruments full HD (...
State-of-the-art surgical laser systems achieve high-quality tissue ablations with minimal thermal damage to the by providing high-speed scanning. However, current technology is not applicable difficult-to-reach anatomical sites for endoscopic surgery. In these cases, flexible fibers are used, but resulting ablation quality limited. Therefore, there a need improve surgery systems. This paper proposes solution this issue based on compact scanner and focusing module designed be placed at...
Letters1 December 2020Operating From a Distance: Robotic Vocal Cord 5G Telesurgery on CadaverAlperen Acemoglu, PhD, Giorgio Peretti, MD, Matteo Trimarchi, Juljana Hysenbelli, MS, Jan Krieglstein, Andre Geraldes, Nikhil Deshpande, Pierre Marie Vincent Ceysens, Darwin Gordon Caldwell, Marco Delsanto, Ottavia Barboni, MM, Tommaso Vio, Sabrina Baggioni, Alessandro Vinciguerra, Alberto Sanna, Elettra Oleari, Andrea Luigi Camillo Carobbio, Luca Guastini, Francesco Mora, and Leonardo S. Mattos,...
Intravenous Access (IVA) is the most common invasive medical procedure. Globally, it estimated that over one billion IVA devices (needles/catheters) are used annually. However, overall failure rate in this procedure unacceptably high, reaching values between 35 and 50%. This has driven a great deal of research technological development recent decades, including integration different levels autonomy to greatly improve process. paper will review these technical developments, methods systems...
This paper presents the design and assembly of a novel magnetically-actuated endoscopic laser scanner device. The device is designed to perform 2D position control high-speed scanning fiber-based for operation in narrow workspaces. includes focusing optics allow non-contact incisions tablet-based interface intuitive teleoperation. performance proof-of-concept analyzed through controllability usability studies. computer-controlled demonstrates repeatable results with 21[Formula: see...
In cancer surgery, the correct localization of cancerous tissue is critical for success surgery. Specifically, surgical goal to remove malignant completely while preserving maximum amount healthy tissue. Unfortunately, limited technologies are available intra-operative assessment tumor margin in Robotic Minimally Invasive Surgery (RMIS). This work presents a vision-based autonomous robotic scanning system abnormal detection. A stereo vision system, including dense 3D surface reconstruction...
This paper presents the concept of a technology for automation laser incisions on soft tissue, especially application in Transoral Laser Microsurgery (TLM) interventions. The aims at automatically controlling based high-level commands from surgeon, i.e. desired incision shape, length and depth. It is recently developed robotic microsurgery platform, which offers controlled motion beam surgical site. A feed-forward controller provides (i) to aiming system (ii) regulates parameters source...
Scanning lasers increase the quality of laser microsurgery enabling fast tissue ablation with less thermal damage. However, possibility to perform scanning in confined workspaces is restricted by large size currently available actuators, which are typically located outside patient and require direct line-of-sight microsurgical area. Here, a magnetic scanner tool designed allow endoscopic microsurgery. The consists two miniature electromagnetic coil pairs permanent magnets attached flexible...
The use of laser scanners in soft tissue microsurgery results high quality ablations with minimal thermal damage to surrounding tissue. However, current scanner technologies for are limited free-beam lasers, requiring direct line-of-sight from outside the patient surgical site. Developing compact manipulation systems is crucial introduce scanning capabilities hard-toreach sites. Recently, we developed a magnetic as tip module an endoscopic system. device provides 2D position control and fast...
Accurate needle insertion is an important task in many medical procedures. This paper studies the case of autonomous system for central venous access, which a risky and challenging procedure involving simultaneous manipulation ultrasound probe catheterization needle. The goal this operation to provide access deep vein, key step cardiovascular treatments or administration drugs cancer infections. Accordingly, work we propose dual-arm access. composed two Franka robotic arms that are precisely...
Patient outcomes in the medical field are improving through use and incorporation of robotics technology laser physics, e.g., optical fibers lasers micro-surgery. This paper describes design implementation a new fiber micro-surgery system, one that is first to closed-loop feedback control. In this computer-assisted scanning tool beam controlled by four magnetic actuators. After attaching permanent magnets free end fiber, it control these produces an accurate suited applications. The...
This paper introduces a new generation of the motorized laser micromanipulator: The computer-assisted microsurgery system (CALM). has micromanipulator and graphics tablet for intuitive position control. CALM is proposed to be used in Transoral Laser Microsurgery (TLM) accurate resections at surgical site. focuses on technical design control micromanipulator, based 2 degrees-of-freedom spherical orienting mechanism actuate beam-splitter mirror. takes into account constraints setup mechanical...
Micro swimming robots offer many advantages in biomedical applications, such as delivering potent drugs to specific locations targeted tissues and organs with limited side effects, conducting surgical operations minimal damage healthy tissues, treatment of clogged arteries, collecting biological samples for diagnostic purposes. Reliable navigation techniques micro swimmers need be developed navigation, positioning, localization inside the human body future applications. In order develop...
Micro swimming robots offer many advantages in biomedical applications, such as delivering potent drugs to specific locations targeted tissues and organs with limited side effects, conducting surgical operations minimal damage healthy tissues, treatment of clogged arteries, collecting biological samples for diagnostic purposes. Reliable navigation techniques micro swimmers need be developed improve the localization inside human body future applications. In order estimate dynamic trajectory...
Laser tattoo removal is a standard non-invasive method for removing color pigments on the skin. Increasing number of tattooed people who want to remove their has driven medical laser market develop new technologies painless, scar-free and complete removal. However, manual use such systems creates post-operative complications since they do not guarantee (i) protection nontattooed skin from exposure, nor (ii) precise control focus during operations best performance. This paper introduces...