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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
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Towards a physics-based model for steerable eversion growing robots
Published in IEEE: Robotics & Automation Letters, 2023
This paper presents a SOFA simulation pipeline for the verification and control of a eversion-steerable soft catheter.
Recommended citation: Wu, Zicong, et al. "Towards a physics-based model for steerable eversion growing robots." IEEE robotics and automation letters 8.2 (2023): 1005-1012. http://mikelitu.github.io/files/towards.pdf
OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes
Published in IEEE/ASME Transactions on Mechatronics, 2023
In this paper, we design a new sensing technique using arrays of lenses, in order to reduce the pixel density of the image.
Recommended citation: OMsense: An Omni Tactile Sensing Principle Inspired by Compound Eyes C Yu, M Chen, MDI Reyzabal, J Back, D Cao, H Liu - IEEE/ASME Transactions on Mechatronics, 2023
Comparative verification of control methodology for robotic interventional neuroradiology procedures
Published in International Journal of Computer Assisted Radiology and Surgery, 2023
This paper presents a comparative study of different control methodologies for robotic interventional neuroradiology simulated in SOFA.
Recommended citation: Jackson, Benjamin, et al. "Comparative verification of control methodology for robotic interventional neuroradiology procedures." International Journal of Computer Assisted Radiology and Surgery 18.11 (2023): 1977-1986.
DaFoEs: Mixing Datasets towards the generalization of vision-state deep-learning Force Estimation in Minimally Invasive Robotic Surgery
Published in IEEE Robotics and Automation Letters, 2024
In this paper, we analyse the effectiveness of Vision Transformers and temporal sampling on the estimation of forces in Minimally Invasive Robotic Surgery.
Recommended citation: Reyzabal, Mikel De Iturrate, et al. "DaFoEs: Mixing Datasets towards the generalization of vision-state deep-learning Force Estimation in Minimally Invasive Robotic Surgery." IEEE Robotics and Automation Letters (2024). http://mikelitu.github.io/files/dafoes.pdf
talks
Implementing Dynamic Active Constraints for Safe Remote Robotic Surgery in SOFA
Published:
Safe navigation of body lumens and interaction with organs is an open challenge in Minimally Invasive Surgery (MIS). Simulating active constraints on soft-tissue for surgical robots has been a promising solution to this challenge; with active constraints, the robot is guided to move in a safe imaginary passage during a MIS navigation or interaction task. This research presents a way to utilize SOFA (Simulation Open Framework Architecture) to implement dynamic active constraints for safe remote robotic palpation and navigation around an organ through a Geomatic Touch haptic interface with force feedback. An active constraint is formulated as a Bilateral Constraint, using the SOFA Sliding Constraint module, between two safely interacting objects, here the robot tip and liver tissue. By simulating a path-following navigation scenario with and without the active constraints in SOFA, we observed a significant improvement (13.034 mm vs 0.009 mm) in the path following error in the presence of active constraints. These results can be used to simulate more complex surgical scenarios in SOFA as well as for semi-autonomous navigation of surgical robots in real life.
High-fidelity model of a Tendon-driven Eversion Growing (Vine) Robot Using SOFA-Framework
Published:
teaching
Computational Applied Biomathematics
Undergraduate course, King's College London, Biomedical Engineering and Imaging Science, 2023