A5074070288- Soft Robotics and Applications
- Surgical Simulation and Training
- Anatomy and Medical Technology
- Gastric Cancer Management and Outcomes
- Medical Research and Treatments
- Retinal and Macular Surgery
- Gastrointestinal Tumor Research and Treatment
- Hydraulic and Pneumatic Systems
- Psychological Well-being and Life Satisfaction
- Urinary Bladder and Prostate Research
- Bladed Disk Vibration Dynamics
- Structural Health Monitoring Techniques
- Augmented Reality Applications
- Tissue Engineering and Regenerative Medicine
- Control and Dynamics of Mobile Robots
- Robot Manipulation and Learning
- Cultural Differences and Values
- Minimally Invasive Surgical Techniques
- Dynamics and Control of Mechanical Systems
- Intraocular Surgery and Lenses
- Gastrointestinal Bleeding Diagnosis and Treatment
- Urological Disorders and Treatments
- Mental Health Research Topics
- Adaptive Control of Nonlinear Systems
University of Maryland, College Park
2023
Korea Advanced Institute of Science and Technology
2019-2022
A highly stretchable and tissue-adhesive multifunctional sensor based on structurally engineered islets embedded in ultra-soft hydrogel is reported for monitoring of bladder activity overactive (OAB) induced rat anesthetized pig. The use yielded a much lower modulus (1 kPa) compared to that the (300 kPa), while strong adhesiveness (adhesive strength: 260.86 N/m) allowed firm attachment onto bladder. change resistance printed liquid metal particle thin-film lines under strain were used detect...
The overtube of an endoscopic surgery robot is fixed when performing tasks, unlike those commercial endoscopes, and this should have high structural stiffness after reaching the target lesion so that sufficient tension can be applied to tissue with surgical tool there are fewer changes in field view camera from reaction force. Various methods been proposed reinforce stiffnesses hyper-redundant manipulators. However, safety, rapid response, space efficiency, cost-effectiveness these...
High stiffness is desirable for wire-driven underactuated hyperredundant manipulators used in minimally invasive surgery. However, limited structural can cause lateral and angular deflections by the force moment applied to distal end of manipulator. This letter proposes a Σ-shaped wire path, which combination parallel convergent paths, manipulator with rolling joints. The path has ability maintain position orientation its an on surgical instrument tip. simple mechanics deflection are...
Abstract Background The tendon‐sheath mechanism provides flexibility but degrades the task performance of flexible endoscopic robot because inherent backlash hysteresis problem. Previous studies have only focused on reducing hysteresis. goal this study is to identify criteria surgical tool bending joints maintain efficient performance. Methods A test platform for a has been developed that initial under 5° and can adjust intentionally. Performance variation investigated in three bench‐top...
A colonoscopy is the most typical method to inspect for colorectal cancer; however, inserting colonoscopes in nonfixed sites, such as sigmoid colon, requires very skilled insertion techniques. Since colon one of difficult sites insertion, straightening it a major step colonoscopy. Previous studies have proposed various methods assist process, but there are still challenges that must be addressed clinical environments. The goal this study was operators straighten using peristaltic motions...
Although various endoscopic surgery robots developed in previous studies are versatile and have high lesion accessibility, they limitations terms of reaching the target through curved path large intestine providing a stable tasking environment for operator.An robot was performing intestine. The easily inserted into colon mounted soft actuator demonstrated structural stiffness insertion sigmoidal auxiliary tendons.The able to access teleoperation alone. Further, it confirmed that overtube...
Abstract In this study, a novel two-degree-of-freedom active-feeder mechanism with disposable roller module for buckling prevention of the catheter tube was developed and analyzed. The phenomenon occurs when flexible part cannot withstand compressive force. Buckling can be prevented using additional parts that support long along tube; however, these passive-type buckling-prevention mechanisms improve transmissibility in rotational motion. By contrast, active-type transmit both translational...
This paper presents a finite-time tracking control for robot manipulator in the presence of modeling uncertainty and an external disturbance. To solve large chattering phenomenon that is caused by high switching gain slidingmode control, novel second-order sliding-mode controller generates continuous input designed with robust differentiator. The stability closed-loop system ensured using constructive Lyapunov-stability analysis. Finally, numerical simulation 2-Axis Pan-Tilt performed to...
There are two corresponding authors who have contributed to this letter, yet only one of them has been mentioned as the author in original letter. As a result, “Ki-Uk Kyung” was added footnote co-corresponding author. The changes reflected follows.