In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting p...
Percutaneous coronary intervention (PCI) is typically performed with image guidance using X-ray angiograms in which coronary arteries are opacified with X-ray opaque contrast agents. Interventional cardiologists typically navigate instruments using n...
The target spraying effect of spray robots mainly depends on the control performance of the spraying arm during the processes of aiming and tracking. To further improve the robustness of the endpoint control and positioning accuracy of the spray arm,...
Medical & biological engineering & computing
Jan 8, 2020
Radiation dose delivery into the thoracic and abdomen cavities during radiotherapy treatment is a challenging task as respiratory motion leads to the motion of the target tumor. Real-time repositioning of the treatment beam during radiotherapy requir...
IEEE transactions on bio-medical engineering
Jan 3, 2020
OBJECTIVE: Two important and difficult tasks during a bone drilling procedure are guiding the orientation of the drilling axis toward the target and maintaining the orientation against the drilling force. To accomplish these tasks, a remote center of...
International journal of computer assisted radiology and surgery
Dec 12, 2019
PURPOSE: Radiation treatment is improved by the use of image-guided workflows. This work pursues the approach of using ultrasound (US) as a real-time imaging modality. The primary focus of this study is to develop and test a breathing and motion cont...
IEEE transactions on bio-medical engineering
Dec 4, 2019
OBJECTIVE: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adapt...
Continuous kinematic monitoring of runners is crucial to inform runners of inappropriate running habits. Motion capture systems are the gold standard for gait analysis, but they are spatially limited to laboratories. Recently, wearable sensors have g...
Compound eyes, also known as insect eyes, have a unique structure. They have a hemispheric surface, and a lot of single eyes are deployed regularly on the surface. Thanks to this unique form, using the compound images has several advantages, such as ...
Carpenter ants possess the characteristics of division of labor, communication between individuals, cooperation, and the ability to solve problems. Inspired by the carpenter ant, we designed electromagnetically controlled ant millirobots that can mov...
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