Recently, flexible robotic systems are developed to enhance minimally invasive
interventions on internal organs located in confined areas of human body. These surgical …

Recent technological advances in surgery have resulted in the development of a range of
new techniques that have reduced patient trauma, shortened hospitalization, and improved …

Endoscopic procedures have transformed minimally invasive surgery as they allow the
examination and intervention on a patient's anatomy through natural orifices, without the …

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but
robotic aid is still under-represented in procedures with constrained workspaces, such as …

This paper presents a real-time control framework for a snake robot with hyper-kinematic
redundancy under dynamic active constraints for minimally invasive surgery. A proximity …

This paper presents the design, analysis and experimentation of a Discrete Modular
Serpentine Tail (DMST). The mechanism is envisioned for use as a robotic tail integrated …

Teleoperated techniques enable remote human-robot interaction and have been widely
accepted in robot-assisted surgeries. However, it is still hard to guarantee the safety of …

Methods, articles of manufacture, and devices related to generating haptic feedback for point
clouds are provided. A computing device receives depth data about an In-Contact …

It is well recognised that the performance of minimally invasive surgery (MIS) imposes an
increasing burden on surgeons' manual dexterity and visuomotor control. Tissue …

The success of MIS is coupled with an increasing demand on surgeons' manual dexterity
and visuomotor coordination due to the complexity of instrument manipulations. The use of …