Abstract: To characterize the dynamics of internal soft organs and external anatomical structures, this paper presents a system that combines medical ultrasound imaging with an optical tracker and a vertical exciter that imparts ...

Abstract: A bracing device for stabilizing cardiac catheters inside the heart was developed to provide surgical-level dexterity to minimally invasive catheter-based procedures for cardiac valve disease. The brace was designed to ...

Abstract: In this paper, we present the design, fabrication, and testing of a robot for automatically positioning ultrasound (US) imaging catheters. Our system will point US catheters to provide realtime imaging of anatomical ...

Abstract: Recent advances in medical robotics have initiated a transition from rigid serial manipulators to flexible or continuum robots capable of navigating to confined anatomy within the body. A desire for further procedure ...