A5073494030- Soft Robotics and Applications
- Surgical Simulation and Training
- Robot Manipulation and Learning
- Anatomy and Medical Technology
- Augmented Reality Applications
- Lung Cancer Research Studies
- Muscle activation and electromyography studies
- Robotic Mechanisms and Dynamics
- Robotics and Sensor-Based Localization
- Modular Robots and Swarm Intelligence
- Air Quality Monitoring and Forecasting
- Hepatocellular Carcinoma Treatment and Prognosis
- Photodynamic Therapy Research Studies
- Prosthetics and Rehabilitation Robotics
- Manufacturing Process and Optimization
- Spinal Cord Injury Research
- Optimal Power Flow Distribution
- Motor Control and Adaptation
- Energy Load and Power Forecasting
- Pancreatic and Hepatic Oncology Research
- Cancer therapeutics and mechanisms
- Power Quality and Harmonics
Yale University
2016-2024
Institute of Electrical and Electronics Engineers
2021
Gorgias Press (United States)
2021
Stevens Institute of Technology
2021
University of California, Berkeley
2018-2019
Berkeley Systems (United States)
2018
Modifications of FOLFIRINOX are widely used despite the absence prospective data validating efficacy in metastatic disease (metastatic pancreatic cancer (MPC)) or locally advanced (LAPC). We conducted a multicentre phase II study modified to assess impact dose attenuation MPC and LAPC. Patients with untreated LAPC received (irinotecan bolus 5-fluorouracil reduced by 25%). Adverse events (AEs) were compared full-dose FOLFIRINOX. Response rate (RR), median progression-free survival (PFS)...
Automating camera movement during robot-assisted surgery has the potential to reduce burden on surgeons and remove need manually move camera. An important sub-problem is automatic viewpoint selection, proposing poses that focus anatomical features. We use 6 DoF Stewart Platform Research Kit (SPRK) environment with a fixed endoscope, as dual moving endoscope itself, study motion in surgical robotics. To provide demonstrations, we link platform's control directly da Vinci (dVRK) master system...
To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research Kit) translate and rotate phantom tissue. This platform is 20cm × 10cm fit in the workspace of da Vinci Kit (DVRK) surgical robot costs $250, two orders magnitude less than commercial Stewart platform. The has range ± 1.27 cm translation along x, y, z, 15° roll, pitch, yaw directions. also modes for sinusoidal motion, breathing-inspired...
Laparoscopic robots such as the da Vinci Research Kit encounter joint limits and singularities during procedures, leading to errors prolonged operating times. We propose Circle Suture Placement Problem optimize location direction of four evenly-spaced stay sutures on surgical mesh for robot-assisted hernia surgery. present an algorithm this problem that runs in 0.4 seconds a desktop equipped with commodity hardware. Simulated results integrating data from expert surgeon demonstrations...
This paper presents the design of a motor-augmented wrist-driven orthosis (MWDO) for improved grasp articulation people with C6-C7 spinal cord injuries. Based on traditional passive, orthotic (WDO) mechanism, MWDO allows both body-powered and motorized actuation grasping output thus enabling more flexible dexterous operation. Here, associated control scheme enables active decoupling wrist finger articulation, which can be useful during certain phases manipulation tasks. An additional...
In this work, the design, modeling, dimensional synthesis, and experimental characterization of a dexterous robotic hand based on Stewart-Gough parallel manipulator are presented. The mechanism consists three linkage fingers with six prismatic actuators that control manipulation. An additional actuator maintains stable grasping forces. A computational model to predict hand's workspace is then utilized determine optimal design parameters maximize size manipulability. physical prototype...
Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose intermittent synchronization with the extrema of rhythmic motion (i.e., lowest velocity windows). We performed 2 experiments: (1) pattern cutting (2) debridement. In (1), found that approach, while 1.8× slower than tracking motion, is significantly more robust noise control latency, it reduces max error 2.6× except...
Technologies from open source projects have seen widespread adoption in robotics recent years. The rapid pace of progress is part fueled by projects, providing researchers with resources, tools, and devices to implement novel ideas approaches quickly. Open hardware, particular, lowers the barrier entry new technologies can further accelerate innovation robotics. But hardware also more difficult propagate comparison software because it involves replicating physical components, which requires...
Robot manipulation today generally focuses on motions exclusively with a robot arm or dexterous hand, but usually not combination of both. However, complex tasks can require coordinating and hand that leverage capabilities both, much like the coordinated carried out by humans to perform everyday tasks. In this work, we evaluate unified arms hands, using motion optimization framework synthesizes series configuration states over entire system. We characterize possible benefits unifying within...
Rotating a grasped object about all three spatial axes is challenging, because kinematically redundant robot hands require complex control schemes for within-hand rotations, and simple parallel grippers inefficient whole arm motions. We present novel 3-finger hand design inspired by spherical mechanism that achieves these rotations with just 3 actuators. The designed such at every hand-object configuration, the pose moves along sphere fixed center, which determined intersection of fingers'...
Grasping can be conceptualized as the ability of an end-effector to temporarily attach or fixture object a manipulator-constraining all motion workpiece with respect end-effector's base frame. This seemingly simplistic action often requires excessive sensing, computation, control achieve multi-fingered hands, which mitigated underactuated mechanisms. In this work, we present analysis radial graspers for automated part fixturing and grasping in plane design implementation single-actuator,...
To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research Kit) translate and rotate phantom tissue. This platform is 20cm x 10cm fit in the workspace of da Vinci Kit (DVRK) surgical robot costs $250, two orders magnitude less than commercial Stewart platform. The has range +/- 1.27 cm translation along x, y, z directions modes for sinusoidal breathing-inspired motion. Modular mounts were also...
395 Background: Toxicities associated with FOLFIRINOX have prompted use of modifications, despite absence prospective data validating comparable efficacy and improved tolerability. To determine the impact attenuated doses irinotecan bolus 5FU on tolerability, we conducted a phase II study modified in advanced PC. The regimen has not been previously examined locally PC (LAPC). Previous studies LAPC compared chemo vs chemoRT median OS 9-12 mo range (Loehrer et al, Chauffert Hammel al)....
Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose intermittent synchronization with the extrema of rhythmic motion (i.e., lowest velocity windows). We performed 2 experiments: (1) pattern cutting, (2) debridement. In (1), found that approach, while 1.8x slower than tracking motion, was significantly more robust noise control latency, it reduced max cutting error 2.6x...