A5032056508- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Surgical Simulation and Training
- Dynamics and Control of Mechanical Systems
- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Matrix Theory and Algorithms
- Adaptive Control of Nonlinear Systems
- Augmented Reality Applications
- Stability and Control of Uncertain Systems
- Control Systems and Identification
- Fault Detection and Control Systems
- Geophysics and Sensor Technology
- Neurological disorders and treatments
- Advanced Radiotherapy Techniques
- Advanced Control Systems Optimization
- Robotic Path Planning Algorithms
- Piezoelectric Actuators and Control
- Neural Networks and Applications
- Vibration and Dynamic Analysis
- Advanced Surface Polishing Techniques
- Cardiac and Coronary Surgery Techniques
- Aeroelasticity and Vibration Control
- Lung Cancer Diagnosis and Treatment
- Anatomy and Medical Technology
Western University
2016-2025
Autonomous Healthcare
2025
London Health Sciences Centre
2007-2024
Mount Auburn Hospital
2024
The University of Texas at Dallas
2024
Lawson Health Research Institute
2014-2023
Western University of Health Sciences
2010-2023
University College London
2022-2023
University of Cambridge
1972-2022
Surgical Specialties (Canada)
2010-2021
A proposed framework for regulatory, ethical, and legal discussions identifies six levels of autonomy medical robotics.
Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation force measurement. The challenge in extending previous sensing technologies pre-curved robots, such as concentric-tube is that torsion information essential accurate estimation, the force-strain relationship nonlinear. In this letter, a novel helically wrapped FBG sensor design corresponding force-curvature-strain model are developed provide...
This article presents an overview of the current state research and application haptic (primarily kinesthetic) feedback force-based teleoperation in context surgical robotics. Telerobotic surgery provides approach for transferring sensorimotor skills a surgeon through robotic platform to perform intervention inside patient's body. Integration advanced sensing technologies telerobotic can help enhance sensory awareness motor accuracy surgeon, thereby leading improved procedures outcomes...
The finished sequence of human chromosome 20 comprises 59,187,298 base pairs (bp) and represents 99.4% the euchromatic DNA. A single contig 26 megabases (Mb) spans entire short arm, five contigs separated by gaps totalling 320 kb span long arm this metacentric chromosome. An additional 234,339 bp has been determined within pericentromeric region arm. We annotated 727 genes 168 pseudogenes in sequence. About 64% these have a 5' 3' untranslated complete open reading frame. Comparative analysis...
Hypertrophic cardiomyopathy is a genetic disease characterized by cardiac hypertrophy, myocyte disarray, interstitial fibrosis, and left ventricular (LV) dysfunction. We have proposed that hypertrophy the major determinants of mortality morbidity, are potentially reversible. tested this hypothesis in beta-myosin heavy chain-Q(403) transgenic rabbits.We randomized 24 rabbits to treatment with either placebo or simvastatin (5 mg. kg(-1). d(-1)) for 12 weeks included nontransgenic controls....
A stable neural network (NN)-based observer for general multivariable nonlinear systems is presented in this paper. Unlike most previous observers, the proposed uses a nonlinear-in-parameters (NLPNN). Therefore, it can be applied to with higher degrees of nonlinearity without any priori knowledge about system dynamics. The learning rule novel approach based on modified backpropagation (BP) algorithm. An e-modification term added guarantee robustness observer. No strictly positive real (SPR)...
The reduced access conditions of minimally invasive surgery and therapy (MIST) impair or completely eliminate the feel tool—tissue interaction forces. Many researchers have been working actively on development force sensors sensing techniques to address this problem. goal survey article is summarize state art in for medical interventions order identify existing limitations future directions. A literature search was performed from January July 2009 using a combination keywords relevant area,...
The well-known stabilizing property of linear quadratic state feedback (LQSF) design is used to obtain a quantitative measure the robustness LQSF designs in presence perturbations. Bounds are obtained for allowable nonlinear, time-varying perturbations such that resulting closed-loop system remains stable. special case linear, time-invariant also treated. bounds expressed terms weighting matrices performance index and corresponding positive definite solution algebraic matrix Riccati...
The unprecedented shock caused by the COVID-19 pandemic has severely influenced delivery of regular healthcare services. Most non-urgent medical activities, including elective surgeries, have been paused to mitigate risk infection and dedicate resources managing pandemic. In this regard, not only surgeries are substantially influenced, but also pre- post-operative assessment patients training for surgical procedures significantly impacted due Many countries planning a phased reopening, which...
In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions the user's hand as improves task performance transparency (fidelity), which extent telepresence remote environment available user through system. For teleoperation, in addition haptics-capable master interface, often one or more force sensors are also used, warrant new bilateral control architectures while increasing cost...
This brief describes a new model for shape memory alloy (SMA) actuators based on the physics of process and develops control strategies using model. The consists three equations - temperature dynamics described by Joules heating-convectional cooling, mole fraction distribution with given statistics to describe two state system, constitutive equation relating changes in stress strain induced SMA. is used develop schemes controlling an SMA actuator. first scheme gain-scheduled...
Besides stability, a high degree of transparency is also an essential requirement in order to enable operators safely and precisely perform bilateral teleoperation tasks. An existing approach based on the wave transformation technique can make two-channel system insensitive time delays by making time-delayed communication channel passive. In this paper, we propose novel method for incorporating four-channel architecture, which optimal architecture from point view, derive corresponding...
Most conventional motion planning algorithms that are based on the model of environment cannot perform well when dealing with navigation problem for real-world mobile robots where is unknown and can change dynamically. In this paper, a layered goal-oriented strategy using fuzzy logic developed robot navigating in an environment. The information about global goal long-range sensory data used by first layer planner to produce intermediate goal, referred as way-point, gives favorable direction...
This paper investigates the inherent oscillation problem of potential field methods (PFMs) in presence obstacles and narrow passages. These problems can cause slow progress system instability implementation. To overcome these two problems, this paper, we propose a modification Newton's method. The use modified method, which applies anywhere C/sub 2/ continuous navigation functions are defined, greatly improves performance when compared to standard gradient descent approach. best our...
Abstract Background Needle deflection and tissue deformation are two problems encountered during needle insertion into soft, non‐homogeneous tissue. They affect the accuracy of placement, which in turn affects effectiveness needle‐based therapies biopsies. Methods In this study, a is inserted using robot with degrees freedom. The modelled as flexible beam clamped support at one end, its estimated online force/moment measurements base. To compensate for deflection, axially rotated through...
In this paper, we describe a new procedure for constructing robot trajectories. The uses the theory of B-splines. motion robot, as specified by time sequence position and orientation knots end effector, is first transformed into sets joint displacements. B-splines are then used to fit these sequences each joint. consists simple recursive algorithm allows constraints be imposed on magnitudes velocities accelerations well their initial final values. A trajectory constructed method has property...
The 10 mm incisions used in minimally invasive cancer surgery prevent the direct palpation of internal organs, making intraoperative tumor localization difficult. A tactile sensing instrument (TSI), which uses a commercially available sensor to measure distributed pressure profiles along contacting surface, has been developed facilitate remote tissue palpation. objective this research is assess feasibility using TSI under robotic control reliably locate underlying tumors while reducing...
Two-dimensional or 3-D visual guidance is often used for minimally invasive cardiac surgery and diagnosis. This suffers from several drawbacks such as limited field of view, loss signal time to time, in some cases, difficulty interpretation. These limitations become more evident beating-heart procedures when the surgeon has perform a surgical procedure presence heart motion. In this paper, we propose dynamic virtual fixtures (DVFs) augment system with haptic feedback, provide helpful by...
New lower bounds on the spectral norms of positive definite solutions to continuos and discrete algebraic matrix Riccati Lyapunov equations are derived. These much easier compute than previously available appear be considerably tighter in many cases.
Objective: The efficacy of catheter-based cardiac ablation procedures can be significantly improved if real-time information is available concerning contact forces between the catheter tip and tissue. However, widely used catheters are not equipped for force sensing. This paper proposes a technique estimating without direct measurements by studying changes in shape deflectable distal section conventional 7-Fr (henceforth called "deflectable shaft," or "shaft" catheter) different loading...