Publications

PURPOSE: Robot-assisted ultrasound (rUS) systems have already been used to provide non-radiative three-dimensional (3D) reconstructions that form the basis for guiding spine surgical procedures. Despite promising studies on this technology, there are few studies that offer insight into the robustness and generality of the approach by verifying performance in various testing scenarios. Therefore, this study aims at providing an assessment of a ...

As soft robotic systems grow in complexity and functionality, the size and stiffness of the needed control hardware severely limits their application potential. Alternatively, functionality can be embodied within actuator characteristics, drastically reducing the amount of peripherals. Functions such as memory, computation, and energy storage then result from the intrinsic mechanical behavior of precisely designed structures. Here, actuators are ...

PURPOSE: In general minimally invasive surgical procedures, surgeons are tied to 2D visualization, leading to the loss of depth perception. This can lead to large mental load for the surgeons and may be responsible for the long learning curve. To restore the sense of depth, this study investigated the use and benefits of an autostereoscopic (3D) display during a simulated laparoscopic task. METHODS: A mixed reality simulator was developed for ...

The precision in electrochemical machining (ECM) is adversely affected by the generation of gas bubbles due to the inherent electrochemical reactions occurring at the cathode (tool) and anode (workpiece) surface. These gas bubbles are known to cause variations in electrolyte conductivity and lead to uneven dissolution and limit the achievable flatness and surface finish. The demands for precision ECM make it important to investigate the bubble ...

This paper proposes a jet electrochemical additive micro-manufacturing (Jet-ECμAM) process with confined electrolyte to enhance the shape precision of micro structures. To achieve electrolyte confinement, a layer of dichloromethane is dispersed on the cathode workpiece. When the electrolyte is ejected out of nozzle and reaches onto the workpiece, it does not disperse freely on the workpiece but its extent of spread is restricted by ...

Polycaprolactone and poly-l-lactide-co-caprolactone are promising degradable biomaterials for many medical applications. Their mechanical properties, especially a low elastic modulus, make them particularly interesting for implantable devices and scaffolds that target soft tissues like the small intestine. However, the specific environment and mechanical loading in the intestinal lumen pose harsh boundary conditions on the design of these ...

On-machine optical measurement receives growing attention as a viable quality assurance technique to satisfy the increasingly critical requirements for dimensional accuracy and surface finish upon precision components. It preserves the temporal and spatial consistency between manufacturing and measurement activities, allowing for a substantial productivity improvement and a great opportunity for on-line quality control. However, additional ...

The complex, deformable, and dynamic cardiovascular system makes precise control of flexible medical instruments a challenging task. An innovative robot-assisted catheterization system (RACS) based on braided sleeves was thus developed to aid interventionalists during cardiovascular procedures. The RACS allows navigating instruments through the vasculature with continuous uninterrupted motion. The complete design and characterization of the ...