An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator

Article Engineering, Electrical & Electronic

Data-Driven Shape Sensing of a Surgical Continuum Manipulator Using an Uncalibrated Fiber Bragg Grating Sensor

Shahriar Sefati et al.

Summary: This article introduces a data-driven learning-based approach for shape sensing and Distal-end Position Estimation of a surgical Continuum Manipulator. By estimating the distal-end position first and reconstructing the shape from distal to proximal end, the proposed method avoids accumulation of integration errors in conventional approaches. Experimental results demonstrate superior performance of the data-driven approach compared to conventional methods.

IEEE SENSORS JOURNAL (2021)

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Article Automation & Control Systems

A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments

Shahriar Sefati et al.

Summary: This study developed a robotic system for treating bone degradation behind acetabular implants, demonstrating its capabilities in achieving desired tasks, accurate positioning, and cutting straight-line and curvilinear paths, as well as showing its advantage in workspace reach compared to traditional rigid tools.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

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Article Engineering, Biomedical