Microneedle puncture is a standard minimally invasive treatment and surgical method, which is widely used in extracting blood, tissues, and their secretions for pathological examination, needle-puncture-directed drug therapy, local anaesthesia, micro...
Traditional renal puncture surgery requires manual operation, which has a poor puncture effect, low surgical success rate, and high incidence of postoperative complications. Robot-assisted puncture surgery can effectively improve the accuracy of punc...
Objectives: The purpose of this study was to assess the performance of an optically tracked robot for computed-tomography (CT)-guided needle placements in a phantom study. Methods: In total, 240 needle punctures were carried out with the help of an o...
The path planning of flexible needles in robotic puncturing presents challenges such as limited model accuracy and poor real-time performance, which affect both efficiency and accuracy in complex medical scenarios. To address these issues, this paper...
In medical puncture robots, visible light, infrared and ultrasound images are currently used to guide punctures. The lack of information about the interaction forces between the puncture needle and soft tissue in different directions during the punct...
The problem of inverse kinematics is fundamental in robot control. Many traditional inverse kinematics solutions, such as geometry, iteration, and algebraic methods, are inadequate in high-speed solutions and accurate positioning. In recent years, th...
After each robot end tool replacement, tool center point (TCP) calibration must be performed to achieve precise control of the end tool. This process is also essential for robot-assisted puncture surgery. The purpose of this article is to solve the p...
Gastrointestinal submucosal tumors (SMTs) are difficult to diagnose accurately due to their deep location and the limitations of traditional biopsy tools. To address these issues, we propose a multifunctional capsule-shaped puncture biopsy robot (PBR...
Lung cancer is the leading cause of cancer deaths worldwide. Although several lung cancer diagnostic methods are available for lung nodule biopsy, there are limitations in terms of accuracy, safety, and invasiveness. Transbronchial needle aspiration...
Rationale and Objectives: To evaluate the targeting accuracy of a novel robot-assisted guidance technique relying on one pair of 2D C-arm images. Material and Methods: In total, 160 punctures were carried out semi-automatically by using a novel robot...
The development of a new generation of minimally invasive surgery is mainly reflected in robot-assisted diagnosis and treatment methods and their clinical applications. It is a clinical concern for robot-assisted surgery to use a multi-joint robotic...
The precision and stability of the Robot-Assisted Percutaneous Puncture (RAPP) system have become increasingly crucial with the widespread integration of robotic technology in the field of medicine. The accurate calibration of the RAPP system prior t...
Introduction: Percutaneous nephrolithotomy (PCNL) is the standard procedure for treating large kidney stones, especially those measuring over 20 mm or staghorn stones. Accurate placement of the tract into the renal collecting system of interest is cr...
Under special circumstances, a cable-driven parallel robot (CDPR) may leave its wrench-feasible-workspace. Standard approaches for the computation of set-point cable forces are likely to fail in this case. The novel nearest corner method for calculat...
Interface interaction mechanics analysis is of great significance for robot-assisted insertion surgery in minimally invasive surgery and therapy. Previous work indicates that the accurate modeling of soft tissue puncture forces plays a crucial role i...
Background: Robotic-based guidance systems are becoming increasingly capable of assisting in needle placement during interventional procedures. Despite these technical advances, less sophisticated low-cost guidance devices promise to enhance puncture...
Magnetically controlled capsule robots offer unique advantages for performing intestinal biopsies. In this paper, we propose a novel Magnetically Controlled Capsule Robot for Intestinal Biopsy (MCCR-IB), capable of both navigation and biopsy within t...
Percutaneous nephrolithotomy is the gold standard for the treatment of renal stones larger than 20 mm in diameter. The treatment outcomes of PCNL are highly dependent on the accuracy of the puncture step, in order to achieve a suitable renal access a...
Robot-assisted surgical systems have been widely applied for minimally invasive needle biopsies thanks to their excellent accuracy and superior stability compared to manual surgical operations, which lead to possible fatigue and misoperation due to l...
The nuclear industry has some of the most extreme environments in the world, with radiation levels and extremely harsh conditions restraining human access to many facilities. One method for enabling minimal human exposure to hazards under these condi...
Retinal vein cannulation is a technically demanding surgical procedure where therapeutic agents are injected into the retinal veins to treat occlusions. The clinical feasibility of this approach has been largely limited by the technical challenges as...
With the miniaturization of ultrasound and the development of artificial intelligence, its application in disaster scenes and pre-hospital emergency care has become more and more common. This study summarizes the literature on portable ultrasound in...
To achieve obstacle-avoiding puncture in breast interventional surgery, a robotics system based on three-fingered breast target-point manipulation is proposed and designed. Firstly, based on the minimum number of control points required for three-dim...
Venous blood collection is a widely used medical diagnostic technique, and with rapid advancements in robotics, robotic venous blood collection has the potential to replace traditional manual methods. The success of this robotic approach is heavily d...
In the context of COVID-19, the research on various aspects of the venipuncture robot field has become increasingly hot, but there has been little research on robotic needle insertion angles, primarily performed at a rough angle. This will increase t...
To improve the unstructured terrain traversing performance of the scientific research robot of the Qinghai–Tibet Plateau station, the parameters of the track shoe of the reconfigurable wheel-crawler walking mechanism were studied. Based on a ty...
Hemorrhage is a leading cause of trauma death, particularly in prehospital environments when evacuation is delayed. Obtaining central vascular access to a deep artery or vein is important for administration of emergency drugs and analgesics, and rapi...
Apple harvesting is transitioning from conventional manual picking to harvest-assist platforms, vibration-based mechanical systems, and selective robotic harvesting. For fresh-market apples, harvesting efficiency cannot be evaluated independently of...
Retinal vein cannulation involves puncturing an occluded vessel on the micron scale. Even single millinewton force can cause permanent damage. An ophthalmic robot with a piezo-driven injector is precise enough to perform this delicate procedure, but...
The quality of okra is crucial in satisfying consumer expectations, and the tenderness of okra is an essential parameter in estimating its condition. However, the current methods for assessing okra tenderness are slow and prone to errors, necessitati...
We developed a crawling magnetic robot (CMR), which can stably navigate and perform biopsies remotely in tubular environments by controlling a magnetic field. The CMR is composed of a crawling part and a biopsy part. The crawling part allows the CMR...
Agricultural robotics has emerged as a research area within robotics, with a particular focus on designing end effectors that are adapted to the physical characteristics of the target fruits. Acquiring a comprehensive understanding of the physical an...
Cell microinjection is a technique of precise delivery of substances into cells and is widely used for studying cell transfection, signaling pathways, and organelle functions. Microinjection of the embryos of zebrafish, the third most important anima...
This paper establishes a functorial algebraic isomorphism between the moduli space
Intracardiac echocardiography (ICE) is increasingly recognized as a valuable imaging modality in structural heart interventions, offering high-resolution, real-time visualization from within the cardiac chambers. Originally developed for electrophysi...
Fruit-body grasping can expose citrus peel to concentrated loads during robotic harvesting. This study develops a bivalve-inspired end-effector that combines opposing C-ring closure, pedicel cutting, and passive fruit reception without deliberately c...
This paper proposes an operation safety early warning system based on LabView (2014, National Instruments Corporation, Austin, TX, USA) for vascular interventional surgery (VIS) robotic system. The system not only provides intuitive visual feedback i...
In producing custom-made systems, using a robotic welding line that can fine-tune welding parameters is not economical, and laser welding is usually done manually. The most common operator error in manual welding operations is the angular positioning...
Peripheral neural interfaces are used to connect the peripheral nervous system to high-tech robotic devices and computer interfaces. Soft materials are nowadays used to build the main structural part of these interfaces because they are able to mimic...