Publications associées à A variable stiffness magnetic catheter made of a conductive shape memory polymer for minimally invasive surgery

Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery

Dario Floreano, Jun Shintake, Yi Sun, Yegor Piskarev, Matteo Righi

In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable-stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid ...

2024

Colloidal self-assembly of soft neural interfaces from injectable photovoltaic microdevices

Mahmut Selman Sakar, Murat Kaynak, Zhangjun Huang, Haiyan Jia

Biomimetic retinas with a wide field of view and high resolution are in demand for neuroprosthetics and robot vision. Conventional neural prostheses are manufactured outside the application area and implanted as a complete device using invasive surgery. He ...

2023

A Variable Stiffness Magnetic Catheter Made of a Conductive Phase-Change Polymer for Minimally Invasive Surgery

Dario Floreano, Jun Shintake, Yegor Piskarev

Variable stiffness (VS) is an important feature that significantly enhances the dexterity of magnetic catheters used in minimally invasive surgeries. Existing magnetic catheters with VS consist of sensors, heaters, and tubular structures filled with low me ...

2022

Development of a Transient Neural Interface for Minimally Invasive Recording and Stimulation

Adele Fanelli

Transient electronics enabling devices to safely disappear in the environment can be applied not only in green electronics, but also in bioelectronic medicine. Neural implants able to degrade harmlessly inside the body eliminate the need for removal surger ...

EPFL2022

In situ photopolymerizable hydrogels for intracranial aneurysms treatment

Oriane Poupart

Intracranial aneurysm is a cerebrovascular disease characterized by an artery dilation in the brain. An aneurysm is prone to rupture, which causes a life-threatening subarachnoid hemorrhage. The major drawbacks of the current treatments, open surgical clip ...

EPFL2021

A Compact Laser-Steering End-Effector for Transoral Robotic Surgery

Laryngeal cancer treatments, while curative, often lead to voice impairment. Minimally invasive surgical methods that facilitate greater preservation of healthy tissue have recently emerged, but they are still limited in important ways. In this work, we de ...

IEEE2019

Simultaneous Recognition and Pose Estimation of Instruments in Minimally Invasive Surgery

Pascal Fua, Raphael Sznitman, Pablo Marquez Neila

Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that generalizes to different ...

2017

Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot

Sylvain Calinon

This paper presents a novel strategy to learn a positional controller for the body of a flexible surgical manipulator used for minimally invasive surgery. The manipulator is developed within the STIFF-FLOP European project and is targeted for a laparoscopi ...

2017

Nano Fibrillated Cellulose Based Composite Hydrogels for an Injectable Intervertebral Disc Implant

Azadeh Khoushabi

Replacing the gel-like central part of the intervertebral disc (IVD), so-called nucleus pulposus (NP), via a minimally invasive surgery is one of the most recent approaches in the lower back pain treatments. An appropriate biomaterial for NP replacement (N ...

EPFL2016

Fast Part-Based Classification for Instrument Detection in Minimally Invasive Surgery

Pascal Fua, Raphael Sznitman, Carlos Joaquin Becker

Automatic visual detection of instruments in minimally invasive surgery (MIS) can significantly augment the procedure experience for operating clinicians. In this paper, we present a novel technique for detecting surgical instruments by constructing a robu ...

Springer2014

Minimally Invasive Photopolymerization In Intervertebral Disc Tissue Cavities

Dominique Pioletti, Pierre-Etienne Bourban, Andreas Schmocker, Azadeh Khoushabi, Christophe Moser

Photopolymerized hydrogels are commonly used for a broad range of biomedical applications. As long as the polymer volume is accessible, gels can easily be hardened using light illumination. However, in clinics, especially for minimally invasive surgery, it ...

Spie-Int Soc Optical Engineering2014

A New Noninvasively Adjustable Glaucoma Drainage Device

Adan Villamarin

Glaucoma is an irreversible disease affecting the eye, leading to progressive loss of vision and eventually to total blindness. It is often related to high intraocular pressure (IOP), which results from increased outflow resistance to aqueous humor. The fi ...

EPFL2014

Design of Dexterous Mechanical Systems for Intuitive Telemanipulation in Minimally Invasive Surgery

Ricardo Daniel Rita Beira

Major progress in abdominal surgery has occurred over the last decades with the introduction of laparoscopic and minimally invasive techniques in the operating room. These innovative procedures attracted much attention due to several advantages: the need f ...

EPFL2013

Increasing Haptic Fidelity and Ergonomics in Teleoperated Surgery

Laura Santos Carreras

Over the past few decades, surgical procedures have made enormous progress, shifting from traditional open procedures to less and less invasive approaches, with the promise of smaller incisions, less complications, better cosmetic results and shorter recov ...

EPFL2012

Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery

Hannes Bleuler, Reymond Clavel, Laura Santos Carreras, Giulio Rognini

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...

Ios Press2011

Influence of force and torque feedback on operator performance in a VR-based suturing task

Hannes Bleuler, Roger Gassert, Ricardo Daniel Rita Beira, Laura Santos Carreras, Ali Sengül

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an a ...

Taylor & Francis2010

Tendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling

Hannes Bleuler, Patrick Schoeneich, Ricardo Daniel Rita Beira, Masayuki Hara, Ali Sengül

Increased miniaturization of surgical instruments is essential to successfully perform surgical procedures in restricted areas as in many applications of minimally-invasive surgery. Miniaturization permits increase in dexterity and decrease in access incis ...

2010

Modeling and Design of a Gripper for a Robotic Surgical System Integrating Force Sensing Capabilities in 4 DOF

Hannes Bleuler, Mathieu Joseph Charles Stephan, Ricardo Daniel Rita Beira, Laura Santos Carreras, Giulio Rognini, Ali Sengül

This paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgi ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

VR simulation of interventional radiology and microsurgery

Fei Wang

Currently trainees typically learn surgery techniques directly on mocks, animals or cadavers. For safety, cost and ethics reasons, one cannot try all possible strategies to achieve efficient learning. Virtual Reality (VR) based surgery training systems int ...

EPFL2009

Modélisation mécanique de fils pour la simulation chirurgicale

Lindo Robert Duratti

Minimally Invasive Surgery (MIS) represents one of the major progresses in surgery in the last decade. In general, it is based on the application of small body-cuts through which instruments are inserted into the patient's body allowing the surgeon to carr ...

EPFL2008