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2017
J. B. Gafford et al.,
“Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS”, ASME Journal of Medical Devices, vol. 11, no. 1, pp. 011007–011018, 2017.
J. B. Gafford et al.,
“Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS”, ASME Journal of Medical Devices, vol. 11, no. 1, pp. 011007–011018, 2017.
Recent advances in medical robotics have initiated a transition from rigid serial manipulators to flexible or continuum robots capable of navigating to confined anatomy within the body. A desire for further procedure minimization is a key accelerator for...
T. Ranzani, S. Russo, F. Schwab, C. Walsh, and R. J. Wood,
“Deployable stabilization mechanisms for endoscopic procedures”, in IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
T. Ranzani, S. Russo, F. Schwab, C. Walsh, and R. J. Wood,
“Deployable stabilization mechanisms for endoscopic procedures”, in IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
Abstract:
Flexible endoscopes are still the gold standard in most natural orifice translumenal endoscopic surgery (NOTES) procedures; however their flexibility (necessary for navigating through the GI tract) limits their capabilities in terms of distal...
Flexible endoscopes are still the gold standard in most natural orifice translumenal endoscopic surgery (NOTES) procedures; however their flexibility (necessary for navigating through the GI tract) limits their capabilities in terms of distal...
J. B. Gafford, R. J. Wood, and C. Walsh,
“A high-force, high-stroke distal robotic add-on for endoscopy”, in IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
J. B. Gafford, R. J. Wood, and C. Walsh,
“A high-force, high-stroke distal robotic add-on for endoscopy”, in IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
‘Snap-On’ robotic modules that can integrate distally with existing commercially-available endoscopic equipment have the potential to provide new capabilities such as enhanced dexterity, bilateral manipulation and feedback sensing with minimal disruption...
M. A. Horvath et al.,
“An Intracardiac Soft Robotic Device for Augmentation of Blood Ejection from the Failing Right Ventricle”, Annals of Biomedical Engineering, pp. 1–12, 2017, doi: 10.1007/s10439-017-1855-z.
M. A. Horvath et al.,
“An Intracardiac Soft Robotic Device for Augmentation of Blood Ejection from the Failing Right Ventricle”, Annals of Biomedical Engineering, pp. 1–12, 2017, doi: 10.1007/s10439-017-1855-z.
We introduce an implantable intracardiac soft robotic right ventricular ejection device (RVED) for dynamic approximation of the right ventricular (RV) free wall and the interventricular septum (IVS) in synchrony with the cardiac cycle to augment blood...
J. B. Gafford, R. J. Wood, and C. J. Walsh,
“Distal Proprioceptive Sensor for Feedback Control of Modular Roboendoscopic Systems”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24-28, 2017.
J. B. Gafford, R. J. Wood, and C. J. Walsh,
“Distal Proprioceptive Sensor for Feedback Control of Modular Roboendoscopic Systems”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24-28, 2017.
S. Russo, T. Ranzani, C. J. Walsh, and R. J. Wood,
“An Additive Millimeter-Scale Fabrication Method for Soft Biocompatible Actuators and Sensors”, Advanced Materials Technologies, 2017, doi: 10.1002/admt.201700135.
S. Russo, T. Ranzani, C. J. Walsh, and R. J. Wood,
“An Additive Millimeter-Scale Fabrication Method for Soft Biocompatible Actuators and Sensors”, Advanced Materials Technologies, 2017, doi: 10.1002/admt.201700135.
A hybrid manufacturing paradigm is introduced that combines pop-up book microelectromechanical systems (MEMS) manufacturing with soft-lithographic techniques to produce millimeter-scale mechanisms with embedded sensing and user-defined distributed...
J. B. Gafford, H. Aihara, C. Thompson, R. J. Wood, and C. J. Walsh,
“Distal Proprioceptive Sensor for Motion Feedback in Endoscope-Based Modular Robotic Systems”, IEEE Robotics and Automation Letters, vol. PP, 2017.
J. B. Gafford, H. Aihara, C. Thompson, R. J. Wood, and C. J. Walsh,
“Distal Proprioceptive Sensor for Motion Feedback in Endoscope-Based Modular Robotic Systems”, IEEE Robotics and Automation Letters, vol. PP, 2017.
Modular robotic systems that integrate with commercially-available endoscopic equipment have the potential to improve the standard-of-care in therapeutic endoscopy by granting clinicians with capabilities not present in commercial tools, such as precision...
F. Temel et al.,
“Pop-up-inspired design of a septal anchor for a ventricular assist device”, ASME Design of Medical Devices Conference. Minneapolis, MN, April 11-13, 2017.
F. Temel et al.,
“Pop-up-inspired design of a septal anchor for a ventricular assist device”, ASME Design of Medical Devices Conference. Minneapolis, MN, April 11-13, 2017.
C. J. Payne et al.,
“Soft robotic ventricular assist device with septal bracing for therapy of heart failure”, Science Robotics, vol. 2, no. 12, 2017, doi: 10.1126/scirobotics.aan6736.
C. J. Payne et al.,
“Soft robotic ventricular assist device with septal bracing for therapy of heart failure”, Science Robotics, vol. 2, no. 12, 2017, doi: 10.1126/scirobotics.aan6736.
Previous soft robotic ventricular assist devices have generally targeted biventricular heart failure and have not engaged the interventricular septum that plays a critical role in blood ejection from the ventricle. We propose implantable soft robotic...
2016
J. B. Gafford, F. Doshi-Velez, R. J. Wood, and C. Walsh,
“Machine learning approaches to environmental disturbance rejection in multi-axis optoelectronic force sensors”, Sensors and Actuators A: Physical, vol. 248, pp. 78–87, 2016, doi: http://dx.doi.org/10.1016/j.sna.2016.06.036.
J. B. Gafford, F. Doshi-Velez, R. J. Wood, and C. Walsh,
“Machine learning approaches to environmental disturbance rejection in multi-axis optoelectronic force sensors”, Sensors and Actuators A: Physical, vol. 248, pp. 78–87, 2016, doi: http://dx.doi.org/10.1016/j.sna.2016.06.036.
Light-Intensity Modulated (LIM) force sensors are seeing increasing interest in the field of surgical robotics and flexible systems in particular. However, such sensing modalities are notoriously susceptible to ambient effects such as temperature and...
T. Ranzani, S. Russo, C. Walsh, and R. J. Wood,
“A soft suction-based end effector for endoluminal tissue manipulation”, The 9th Hamlyn Symposium on Medical Robotics. London, England, 2016.
T. Ranzani, S. Russo, C. Walsh, and R. J. Wood,
“A soft suction-based end effector for endoluminal tissue manipulation”, The 9th Hamlyn Symposium on Medical Robotics. London, England, 2016.
S. Russo, T. Ranzani, C. Walsh, and R. J. Wood,
“A soft pop-up proprioceptive actuator for minimally invasive surgery”, The 9th Hamlyn Symposium on Medical Robotics. London, England, p. [Best Poster Award], 2016.
S. Russo, T. Ranzani, C. Walsh, and R. J. Wood,
“A soft pop-up proprioceptive actuator for minimally invasive surgery”, The 9th Hamlyn Symposium on Medical Robotics. London, England, p. [Best Poster Award], 2016.