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Journal Article
Journal of Engineering Science and Technology, ISSN 1823-4690, 10/2018, Volume 13, Issue 10, pp. 3071 - 3079
A second-order sigma-delta modulator is presented in this paper which, according to the considered standards, is suitable for bluetooth applications. The... 
Low power | Bluetooth application | Sigma-delta modulator | High precision | Second-order
Journal Article
Robotica, ISSN 0263-5747, 09/2014, Volume 34, Issue 7, pp. 1437 - 1463
This paper presents a new observer-based adaptive controller for handling an object with unknown geometry, center of mass, and inertia using a cooperative... 
Dynamic uncertainty | Observer-based adaptive control | Cooperative robotic system | Unknown object | Kinematic uncertainty | ROBOTICS | ROBUST | ROBOT MANIPULATORS | DELAYED COMMUNICATION-NETWORKS | DYNAMICS | PASSIVE BILATERAL CONTROL | TELEOPERATION | COM | Controllers | Uncertainty | Dynamics | Kinematics | Inertia | Dynamical systems | Robots
Journal Article
Tissue Engineering Part A, ISSN 1937-3341, 03/2018, Volume 24, Issue 5-6, pp. 527 - 535
The goal of this work is to develop an innovative method that combines bioprinting and endoscopic imaging to repair tympanic membrane perforations (TMPs). TMPs... 
Original Articles
Journal Article
Journal Article
Proceedings of SPIE - The International Society for Optical Engineering, ISSN 0277-786X, 2013, Volume 8671
During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed... 
MRI-guided needle steering | Prostate intervention | 2DOF decoupled force/torque sensor | MRI-compatible force sensor | Axial stress | Torque | Mathematical analysis | Insertion | Needles | Sensors | Prostate | Robots
Conference Proceeding
2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), ISSN 1557-170X, 07/2017, Volume 2017, pp. 4251 - 4255
In this paper, we present the concept of a novel 4-DOF parallel robot for MRI-guided percutaneous interventions. This system belongs to the class of... 
Needles | Robot sensing systems | Magnetic resonance imaging | Robot kinematics | Kinematics | Magnetic Resonance Imaging | Biomechanical Phenomena | Robotic Surgical Procedures | Phantoms, Imaging | Humans | Robotics
Conference Proceeding
Academic Radiology, ISSN 1076-6332, 01/2018, Volume 25, Issue 1, pp. 74 - 81
Our research team has developed a magnetic resonance imaging (MRI)-compatible robot for long bone biopsy. The robot is intended to enable a new workflow for... 
long bone biopsy | workflow | MRI | Robotics | MR Safe
Journal Article
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, 12/2018, Volume 2018, pp. 1443 - 1448
This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the... 
Conference Proceeding
Journal of medical imaging (Bellingham, Wash.), ISSN 2329-4302, 04/2019, Volume 6, Issue 2, p. 025006
Shoulder arthrography is a diagnostic procedure which involves injecting a contrast agent into the joint space for enhanced visualization of anatomical... 
Journal Article
Academic Radiology, ISSN 1076-6332, 01/2018, Volume 25, Issue 1, pp. 74 - 81
Journal Article
Journal of Medical Devices, ISSN 1932-6181, 09/2017, Volume 11, Issue 3, pp. 031009 - 031009-10
Drilling through bone is a common task during otologic procedures. Currently, the drilling tool is manually held by the surgeon. A robotically assisted... 
Da Vinci research kit | Surgical drill instrument | master-slave control | Force feedback | Kinematics | da Vinci research kit | force feedback | ROBOT | ENGINEERING, BIOMEDICAL | VALIDATION | surgical drill instrument | kinematics | BREAKTHROUGH DETECTION | FRAMES | COCHLEAR IMPLANT | MIDDLE-EAR | BONE | TOOL
Journal Article
Progress in Biomedical Optics and Imaging - Proceedings of SPIE, ISSN 1605-7422, 2017, Volume 10135
Ureteroscopy is a minimally invasive procedure for diagnosis and treatment of a wide range of urinary tract pathologies. It is most commonly performed in the... 
Evaluation | Image guidance | Robotics | Uretersocopy | Electromagnetic tracking
Conference Proceeding
2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 06/2019, Volume 2019, pp. 13 - 20
Our research team has developed two versions of an ankle robot for children with cerebral palsy. Both devices provide three degrees of freedom and are... 
Pediatrics | Airplanes | Medical treatment | Games | Muscles | Robots | Foot
Conference Proceeding
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