Abstract: This work develops a needle insertion force model based on fracture mechanics, which incorporates the fracture toughness, shear modulus, and friction force of the needle and tissue. Ex vivo tissue experiments were performed ...

Abstract: Laparoscopic surgery is a common minimally invasive surgery that uses specialized tools to access the abdominal cavity and pelvic regions via small incisions called ports. Compared to open surgery, laparoscopy's small ...

Abstract: This work investigates the performance of a novel compliant needle for cutting tissue. The novel cutting geometry transfers axial vibration to transverse motion at the tip. The cutting edge of the geometry is defined in ...

Abstract: This paper explores the design of a dynamically weighted therapy bar, which can provide realtime quantitative performance information and adjustments during rehabilitation exercise. In contrast, typical therapy equipment ...

Abstract: Typically, mobile vehicles follow the same paths repeatedly, resulting in a common path bounded with some variance. These paths are often punctuated by branches into other paths based on decision-making in the area around ...

Abstract: Accurate force simulation is essential to haptic simulators for surgical training. Factors such as tissue inhomogeneity pose unique challenges for simulating needle forces. To aid in the development of haptic needle insertion ...

Abstract: This paper explores the design of a novel robotic device for gait training and rehabilitation, a method to estimate a human's orientation within the rehabilitation device, as well as an optimal state space controller to ...