Emerging paradigms furthering the reach of medical technology into human anatomy
present unique modeling, control, and sensing problems. This review provides a brief history …

Robot-assisted minimally invasive surgery has many advantages compared to conventional
open surgery and also certain drawbacks: it causes less operative trauma and faster …

In an open surgery, identification of precise margins for curative tissue resection is
performed by manual palpation. This is not the case for minimally invasive and robotic …

Robot-assisted minimally invasive surgery prevents surgeons from manually palpating
organs to locate subsurface tumors and other structures. One solution is to use ultrasound; …

The surgical paradigm of minimally invasive surgery (MIS) has been a key driver to the
adoption of robotic surgical assistance. Progress in the last three decades has led to a …

Spinal orthopedic surgery is one of the typical high-risk surgeries. During the surgery, bone
screws need to be inserted into the narrower vertebral pedicles and any failures in the screw …

Background Haptic feedback is of critical importance in surgical tasks. However,
conventional surgical robots do not provide haptic feedback to surgeons during surgery …

We present a new interface for minimally invasive surgery (MIS) training that incorporates
novel broadband sensory modalities that include visual, force, and thermal technology, into …

Medical ultrasound imaging robotics systems often comprise of complex control
architectures and hardware integration to enable safe human robot interaction. In this paper …

The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and
there are many problems for the traditional sensor-based solutions. This paper builds a …