Michael Winek

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This work presents a “smart” robotic surgical grasper capable of identifying tissue during the early stages of a grasp, allowing automated prevention of grasper-induced tissue crush injuries. It employs no additional sensors beyond signals already present in surgical robots. An estimation algorithm using an extended Kalman filter (EKF) is(More)
We present a method of quantitatively measuring the pressure distribution applied to synthetic tissues by surgical tools via dye-impregnated microcapsules that rupture at specified pressures. A method utilizing pre-made indicator sheets is evaluated by force applications on synthetic bowel, and methods for creating paint-on indicator slurries were explored.(More)
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