A5095375458- Surgical Simulation and Training
- Non-Invasive Vital Sign Monitoring
- Advanced Fiber Optic Sensors
- Cardiovascular Health and Disease Prevention
- Soft Robotics and Applications
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Hydraulic and Pneumatic Systems
- Pain Management and Treatment
- Augmented Reality Applications
- Dental Implant Techniques and Outcomes
- Muscle activation and electromyography studies
- Transcranial Magnetic Stimulation Studies
University of Louisville
2024
The ability to accurately model mechanical hysteretic behavior in tendon-actuated continuum robots using deep learning approaches is a growing area of interest. In this paper, we investigate the response two types and, ultimately, compare three neural network modeling with both forward and inverse kinematic mappings: feedforward (FNN), FNN history input buffer, long short-term memory (LSTM) network. We seek determine which best captures temporal dependent behavior. find that, depending on...
Interstitial brachytherapy requires up to 20 straight needles surround and irradiate deep-seated tumors, but may offer sub-optimal radiation dosage in cases of advanced cancers. A steerable stylet can be used guide the needle within tissue, improving procedure accuracy reducing number required for each operation. This work introduces design a novel tendon-assisted magnetically steered (TAMS) robotic steer commercially available needles. The dual-actuation modality (magnetic tendon-driven)...
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for estimation that uses sensorized beam buckled onto the surface of tissue. Fiber Bragg Gratings (FBGs) are used our sensor as shape-estimation modality to get real-time shape, even while device is not visually monitored. A mechanical model developed predict behavior buckling...
Robotic steering mechanism can be useful in the placement of electrodes spinal cord stimulation (SCS) procedures. This article introduces an innovative and latching called ExoNav, designed for SCS electrodes. By applying magnetic locking robotic system, a noncontact stabilization is established at robot's base to reduce tendon-sheath coupling effects that are common continuum robots. A kinematic model has been developed validated predict behavior when subjected tendon actuation. To broaden...
There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise margin identification resection can prevent further growth protect critical structures. Surgical lasers with small laser diameters steering capabilities allow new minimally invasive procedures by traversing through complex anatomy, then providing energy to sense, visualize, affect tissue. In this paper, we present the design of small-scale...