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Proceedings Papers

Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes

Tayfun Efe Ertop, Maxwell Emerson, Margaret Rox, Josephine Granna, Robert Webster, Fabien Maldonado, Erin Gillaspie, Michael Lester, Alan Kuntz, Caleb Rucker, Mengyu Fu, Janine Hoelscher, Inbar Fried, Ron Alterovitz
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3163
https://doi.org/10.1115/DSCC2020-3163
View Paper titled, Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes
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Topics: Endoscopes, Feedback, Lung, Needles, Trajectories (Physics), Biological tissues, Errors, Kalman filters, Control equipment, Degrees of freedom
Proceedings Papers

Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

Jake A. Steiner, Omar A. Hussain, Lan N. Pham, Jake J. Abbott, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9029
https://doi.org/10.1115/DSCC2019-9029
View Paper titled, Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots
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Topics: Robots, Biomedicine, Catheters, Composite materials, Conducting polymers, Deformation, Endoscopes, Locomotives, Metals, Polymers
Proceedings Papers

Robot Guided Sheaths (RoGS) for Percutaneous Access to the Pediatric Kidney: Patient-Specific Design and Preliminary Results

Tania K. Morimoto, Michael H. Hsieh, Allison M. Okamura
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T08A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3917
https://doi.org/10.1115/DSCC2013-3917
View Paper titled, Robot Guided Sheaths (RoGS) for Percutaneous Access to the Pediatric Kidney: Patient-Specific Design and Preliminary Results
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Topics: Design, Kidney, Pediatrics, Robots, Surgery, Biological tissues, Damage, Diluents, Endoscopes, Instrumentation
Proceedings Papers

Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the Use of Hydraulics

Devin R. Berg, Perry Y. Li, Arthur G. Erdman
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 429-438, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8685
https://doi.org/10.1115/DSCC2012-MOVIC2012-8685
View Paper titled, Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the Use of Hydraulics
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Topics: Hydraulics, Robots, Surgery, Design, Computer simulation, Robotics, Dynamic models, Endoscopes, Endoscopic devices, Engineering prototypes