Malignant tumors have become one of the serious public health problems in human safety
and health, among which the chest and abdomen diseases account for the largest …

Magnetic resonance (MR) conditional actuators and encoders are the key components for
MR-guided robotic systems. In this article, we present the modeling and control of our MR …

Purpose Motion of organs in the abdominal and thoracic cavity caused by respiration is a
major issue that affects a wide range of clinical diagnoses or treatment outcomes, including …

Cancer, with high morbidity and high mortality, is one of the major burdens threatening
human health globally. Intervention procedures via percutaneous puncture have been …

Soft robots (SR) are a class of continuum robots that enable safe human interaction with task
versatility beyond rigid robots. This has resulted in their rapid adoption in a number of …

MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular
carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub …

Magnetic Resonance Imaging-guided breast puncture robots have been widely used in
recent years. A puncture robot with a body-mounted method can compensate for errors …

To achieve precise measurement of a large aperture mirror, a six-degrees-of-freedom (6-
DOF) measurement instrument is designed to monitor and calculate the real-time attitude of …

Current methods for compensating respiratory motion during percutaneous procedures face
significant limitations with unexpected patient motion and accuracy. This research aims to …