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PURPOSE Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the(More)
This paper reports the development of novel micro-force sensing tools for retinal microsurgery. Retinal microsurgery requires extremely delicate manipulation of retinal tissue, and tool-to-tissue interaction forces are frequently below human perceptual thresholds. Further, the interaction between the tool shaft and sclera makes accurate sensing of forces(More)
INTRODUCTION A novel robotic platform for Natural Orifice Transluminal Endoscopic Surgery (NOTES) is presented in this paper. It aims to tackle two crucial technical barriers which hinder its smooth transition from animal studies to clinical trials: providing effective instrumentations to perform complex NOTES procedures and maintaining the spatial(More)
Nasogastric (NG) intubation is one of the most commonly performed clinical procedures. Real-time localization and tracking of the NG tube passage at the larynx region into the esophagus is crucial for safety, but is lacking in current practice. In this paper, we present the design, analysis and evaluation of a non-invasive real-time localization system(More)
Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to(More)
Mechanical stimuli play crucial roles in bone remodeling and resorption. Osteopontin (OPN), a marker for osteoblasts, is important in cell communication and matrix mineralization, and is known to function during mechanotransduction. Hypergravity is a convenient approach to forge mechanical stimuli on cells. It has positive effects on certain markers of(More)
This work demonstrated that a cold-induced DEAD-box RNA helicase, CbDRH, is also post-transcriptionally regulated upon cold stress, and it interacts with a cold-responsive, glycine-rich, RNA-binding protein, CbGRP. Chorispora bungeana (C. bungeana) is a representative alpine subnival plant species that shows strong tolerance to multiple abiotic stresses,(More)
In many medical intervention procedures, passive magnetic tracking technology has found favor in continuous localization of medical instruments and tools inside the human body. By utilizing a small permanent magnet as a passive source, it requires no dedicated power supply or wire connection into the body. Past researches usually adopt rigid structures to(More)
Nasogastric intubation is one of the most commonly performed clinical procedures. Real-time placement confirmation of the NG tube passage at the laryngeal region into the esophagus is crucial for safety, but is lacking in current practice. In this paper, we present a compliant non-invasive real-time localization system using passive magnetic tracking(More)
Haptics feedback is a potential enhancement for surgeon's performance in robotic surgery. In this paper, we attempted to tackle the challenges in this application from three aspects: haptic information acquisition, design of a haptics enabled master console and system control. Taking the MASTER (Master And Slave Transluminal Endoscopic Robot) system as an(More)