Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance th...
This work presents a data-driven method to simulate, in real-time, the biomechanical behavior of the breast tissues in some image-guided interventions such as biopsies or radiotherapy dose delivery as well as to speed up multimodal registration algor...
Today, different implant designs exist in the market; however, there is not a clear understanding of which are the best implant design parameters to achieve mechanical optimal conditions. Therefore, the aim of this project was to investigate if the g...
Bioinspired robotic structures comprising soft actuation units have attracted increasing research interest. Taking advantage of its inherent compliance, soft robots can assure safe interaction with external environments, provided that precise and eff...
OBJECTIVES: Accurate reconstruction and visualisation of soft tissue deformation in real time is crucial in image-guided surgery, particularly in augmented reality (AR) applications. Current deformation models are characterised by a trade-off between...
This paper presents a continuous composite control scheme to achieve fixed-time stabilization for nonlinear systems with mismatched disturbances. The composite controller is constructed in two steps: First, uniformly finite time exact disturbance obs...
Biomechanics and modeling in mechanobiology
Apr 6, 2017
Geometric features of the aorta are linked to patient risk of rupture in the clinical decision to electively repair an ascending aortic aneurysm (AsAA). Previous approaches have focused on relationship between intuitive geometric features (e.g., diam...
The international journal of medical robotics + computer assisted surgery : MRCAS
Jan 16, 2017
BACKGROUND: Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system ...
IEEE journal of biomedical and health informatics
Dec 14, 2016
Computer simulations based on the finite element method represent powerful tools for modeling blood flow through arteries. However, due to its computational complexity, this approach may be inappropriate when results are needed quickly. In order to r...
Biomechanics and modeling in mechanobiology
Nov 18, 2016
An information-based technique is described for applications in mechanical property imaging of soft biological media under quasi-static loads. We adapted the Autoprogressive method that was originally developed for civil engineering applications for ...