Research Overview

Medical Devices

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A hybrid snake robot for single access surgery A hybrid robot consisted of a robotic probe and a super elastic concentric tube robot. The robot is able to provide high steerability, high dexterity, and much higher tip stiffness than available catheters.

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A Robotic System for Intracardiac Surgery A snake–like robot consisted of super elastic concentric tubes. The robot is similar in diameter to a catheter, but its shape will be controllable along its entire length. More on this

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Micro Surgical Tools A micro cutting tool (1mm width) using a metal MEMS process. The tool is deployed at a robot’s tip inside a beating heart to remove extra tissue. This is the first version of the tool designed by MicroFabrica Inc. We are developing a new design that removes the tissue without causing any problem for the heart. More on this

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Haptics

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Model-Based Control for a Surgical Teleoperator The use of force sensor is limited for robot assisted surgery. We used a model based compensation to cancel the resistant forces of the Master and Slave arms of a haptic-feedback teleoperator. A new single-state static friction model is developed to compensate for friction in the joints of the arms of a surgical teleoperator with compliant transmition. When friction compensation is activated, the forces applied to the operator become very close to the forces measured at the tip of the slave arm. Videos of da Vinci System with Haptic Feedback Da Vinci demo (Force Feedback Teleoperation and Virtual Fixture) The da Vinci demo of a user playing the game operation at 2006 haptic symposium

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Haptic Feedback for Palpation A model-based controller provides haptic feedback for a surgical teleoperator. No force sensor is used. The human subject tests showed that more than %80 of the users that tried the system find a hard nodule inside a soft phantom model with the developed haptic feedback.

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Multi-Rate Passive Haptic Simulation A method that allows passive low rate haptic simulation even at 1 hz!

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Modeling Interaction with Soft Tissue

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A Time-Dependent Model for Needle Insertion The model explains why high velocity insertion makes more efficient insertion (less deformation, less damage and less force).

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A Surgical Simulator for Prostate Surgery

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Simulation of Cutting with a Pair of Scissors. A fracture mechanics approach is used to simulate cutting of a plate of tissue with a pair of scissors. The experimental results confirm the obtained model.

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A Physics-Based Model for Real-time Simulation of Cutting Cutting of a deformable body may be viewed as an interchange between three forms of energy: the elastic energy stored in the deformed body, the work done by a sharp tool as it moves against it, and the irreversible work spent in creating a fracture.