Robotic surgery is transforming the current surgical practice, not only by improving the
conventional surgical methods but also by introducing innovative robot-enhanced …

Robot-assisted surgery is of growing interest in the surgical and engineering communities.
The use of robots allows surgery to be performed with precision using smaller instruments …

Real-time soft tissue characterization is significant to robotic assisted minimally invasive
surgery for achieving precise haptic control of robotic surgical tasks and providing realistic …

A fracture mechanics approach was employed to develop a model that can predict the
penetration force during quasi-static needle insertion in soft tissue. The model captures a …

Notable challenges during retinal surgery lend themselves to robotic assistance, which has
proven beneficial in providing safe steady-hand manipulation. Efficient assistance from the …

Controlling the interaction between robots and living soft tissues has become an important
issue as the number of robotic systems inside the operating room increases. Many …

In this study, a distributed approach to account for dynamic friction during needle insertion in
soft tissue is presented. As is well known, friction is a complex nonlinear phenomenon. It …

Surgical simulators are being introduced as training modalities for surgeons. This paper
aims to evaluate dynamic models used to convey force feedback from puncturing the soft …

Many medical procedures involving needle insertion into soft tissues, such as anesthesia,
biopsy, brachytherapy, and placement of electrodes, are performed without image guidance …

Needle insertion treatments require accurate placement of the needle tip into the target
cancer. However, it is difficult to insert the needle into the cancer because of cancer …