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State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery
Haptic perception plays a very important role in surgery. It enables the surgeon to feel organic tissue hardness, measure tissue properties, evaluate anatomical structures, and allows him/her toExpand
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Tactile sensing for dexterous in-hand manipulation in robotics-A review
Abstract As the field of robotics is expanding from the fixed environment of a production line to complex human environments, robots are required to perform increasingly human-like manipulationExpand
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Control Design for Interval Type-2 Fuzzy Systems Under Imperfect Premise Matching
TLDR
This paper focuses on designing interval type-2 (IT2) control for nonlinear systems subject to parameter uncertainties. Expand
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Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review
TLDR
We review the latest advancements and challenges in the development of tactile sensing devices designed for surgical applications, especially in the context of RMIS. Expand
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Soft Robotics Technologies to Address Shortcomings in Today ’ s Minimally Invasive Surgery : The STIFF-FLOP Approach
Most devices for single-site or natural orifice transluminal surgery are very application specific and, hence, capable of effectively carrying out specific surgical tasks only. However, most of theseExpand
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Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures
This paper presents the development and evaluation of a miniature, three-axis, fiber-optic force sensor. The sensor is manufactured using low-cost, high-resolution rapid prototyping techniques and isExpand
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State of the art in sensor technologies for sewer inspection
This paper reviews the state of the art in sensors and automated inspection devices for enhanced sewer inspection. Efficiency, safety, environmental, and legislative concerns have made inspection andExpand
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MRI-Compatible Fiber-Optic Force Sensors for Catheterization Procedures
TLDR
Cardiac catheterization is an interventional procedure that is usually carried out without the use of force sensors. Expand
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Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation
TLDR
This paper proposes a miniature 3-axis distal force sensor that can be used to perform tissue palpation, measuring tissue interaction forces at the tip of a surgical instrument. Expand
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Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
TLDR
We present the design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators. Expand
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