Enhanced accuracy in magnetic actuation: Closed-loop control of a magnetic agent with low-error numerical magnetic model estimation
Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools
and may enable the next generation of ultra minimally invasive surgical robotic systems …
and may enable the next generation of ultra minimally invasive surgical robotic systems …
Control of magnetic surgical robots with model-based simulators and reinforcement learning
Magnetically manipulated medical robots are a promising alternative to current robotic
platforms, allowing for miniaturization and tetherless actuation. Controlling such systems …
platforms, allowing for miniaturization and tetherless actuation. Controlling such systems …
Multi-Class Detection and Tracking of Intracorporeal Suturing Instruments in an FLS Laparoscopic Box Trainer Using Scaled-YOLOv4
M Mohaidat, JL Grantner, SA Shebrain… - … Symposium on Visual …, 2022 - Springer
Intracorporeal suturing is one of the most critical skills in the Fundamentals of Laparoscopic
Surgery (FLS) training. Assessment of skills acquisition requires a significant amount of the …
Surgery (FLS) training. Assessment of skills acquisition requires a significant amount of the …
Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo
The application of force in surgical settings is typically accomplished via physical tethers to
the surgical tool. While physical tethers are common and critical, some internal surgical …
the surgical tool. While physical tethers are common and critical, some internal surgical …
Magnetic model calibration for tetherless surgical needle manipulation using zernike polynomial fitting
Exerting forces and torques instantaneously on rigid magnetic bodies with no physical
connection is an attractive feature of magnetic robotics. This demonstrates great potential for …
connection is an attractive feature of magnetic robotics. This demonstrates great potential for …
Time-Scale Separation Analysis for Surgical Needle Control in Electromagnetic Robotic Systems
In this work, we use the theory of time-scale separation to analyze motion of magnetic
needles powered by electromagnetic coils for surgical tasks. In developing model-based …
needles powered by electromagnetic coils for surgical tasks. In developing model-based …
[引用][C] Mitigating Singularities in Control of Magnetic Capsule Endoscopes Using a Novel Nested Electromagnetic Coil System
Magnetic actuation systems that utilize external electromagnetic coils present a promising
approach for controlling untethered small-scale robots, notably in medical applications …
approach for controlling untethered small-scale robots, notably in medical applications …