Abstract: Space restrictions prevent surgeons to directly interact with the patient during magnetic resonance imaging (MRI)guided procedures. One practical solution would be to develop a robotic system that can act as an interface ...

Abstract: A computational solution to the inverse sinusoidal input describing function (SIDF) for a broad class of static nonlinearities is presented. The proposed numerical solution uses the SIDF gain and phase distortions to ...

Abstract: Using robotic systems to assist with sophisticated medical interventions such as aortic valve replacement under beating heart conditions necessitates the development of dexterous manipulators to ensure a safe and reliable ...