In minimally invasive endovascular procedures, surgeons rely on catheters with low
dexterity and high aspect ratios to reach an anatomical target. However, the environment …

A bilateral impedance controller is presented to enable robot-assisted surgery of a beating
heart. For this purpose, two desired impedance models are designed and realized for the …

A key limitation in the observation of instruments used in operations and heart sutures
during a procedure is the scattering and absorption during optical imaging in the presence …

We investigate a new framework of surgical instrument detection based on power-varying
ultrasound images with simple and efficient pixel-wise intensity processing. Without using …

OBJECTIVE Rigid endoscopes enable minimally invasive access to the ventricular system;
however, the operative field is limited to the instrument tip, necessitating rotation of the entire …

Objective We sought to develop an instrument that would enable the delivery of artificial
chordae tendineae (ACT) using optical visualization of the leaflet inside the beating heart …

We investigate a new framework of surgical instrument detection based on power-varying
ultrasound images with simple and efficient pixel-wise intensity processing. Without using …

While catheters have enabled a variety of beatingheart intracardiac procedures, the range of
procedures has been limited by the inability to provide detailed visualization of the tissue at …

Paravalvular leaks (PVLs) are a complication of valvular heart surgery, occuring in 5 to 17%
of surgically implanted valves [1]. Identifying the leak and deploying a closure device during …