Predictable Therapeutic Microswarm Dispersion for Targeted Drug Delivery Application

Kiana Abolfathi, Mohammad Reza Hairi Yazdi and Ali Kafash Hoshiar

Detector-Free Dense Feature Matching for Fetoscopic Mosaicking

Sophia Bano, Francisco Vasconcelos, Anna David, Jan Deprest and Danail Stoyanov

Deep Reinforcement Learning Based Semi-Autonomous Control for Robotic Surgery

Ruiqi Zhu, Dandan Zhang and Benny Lo

A Physical Simulator Integrated with Soft Sensing for Mastering the Manipulation of Vascular Structures in Robotic Surgery

Andrea Mariani, Dario Galeazzi, Selene Tognarelli and Arianna Menciassi

Proof-of-Concept Investigation of an Instrument-Mounted Markerless Tracking System for Robot-Assisted Orthopaedic Surgery

Fabio Tatti, Xue Hu and Ferdinando Rodriguez Y Baena

Validation of a Proof-of-Concept System for Personalised Computer-Assisted Treatment of Knee Osteochondral Lesions

Fabio Tatti, Branislav Jaramaz and Ferdinando Rodriguez Y Baena

Robotic Surgery – Implications for Informed Consent

Jessica Henley, Joannie Neveu, Doug Angel and Simon Kirby

Design and Experimental Evaluation of the SOFTScreen Capsule System in a Colon Phantom

Vanni Consumi, Lukas Lindenroth, Danail Stoyanov and Agostino Stilli

A Soft Palpation Sensor for Early Detection of Biological Tissue Abnormalities Based on Electrical Impedance Tomography

Saina Akhond, James Avery and George Mylonas

Towards an MRI-Conditional Robot for Intracerebral Hemorrhage Evacuation

Anthony Gunderman, Saikat Sengupta, Dimitri Sigounas, Kevin Cleary and Yue Chen

Finite Element Dynamics of a Concentric Tube Robot Motion and Interaction with Environment Using SOFA-Framework

Katie Zuo, Benjamin Jackson, Ross Henry, Christos Bergeles and S.M.Hadi Sadati

Comparison of Performance Metrics for Real-Time Haptic Feedback in Surgical Skill Training

Lianne R. Johnson, Michael D. Byrne and Marcia K. O'Malley

The Design of a Biomimetic Whisker-Based System for Clinical Gastrointestinal Diseases Screening

Zeyu Wang, Junhong Chen, Ruiyang Zhang and Benny Lo

Inexact Multi-Task Learning for Fetal Anastomoses Detection

Alessandro Casella, Gaia Romana De Paolis, Elena De Momi, Dario Paladini, Sara Moccia and Leonardo Mattos

Robotic Curvilinear Laser Thermal Therapy Probe for Transforamenal Hippocampotomy

Daniel Esser, John Peters, Abby Grillo, Sarah Garrow, Tyler Ball, Robert Naftel, Dario Englot, Joseph Neimat, Will Grissom, Eric Barth and Robert Webster III

Pop-up Soft Robot for Minimally Invasive Surgery

Mark Runciman, James Avery and George Mylonas

Toward Bipolar Electrosurgery with Concentric Tube Robots

Jesse d'Almeida, Margaret Rox and Robert Webster

Design of a Meso-Scale Grasper for Robotic Pediatric Neuroendoscope Tool

Timothy A. Brumfiel, Kent K. Yamamoto, Asif Rashid, Akiyuki Shigematsu, Coley Chapman, Shreyes N. Melkote, Joshua J. Chern and Jaydev P. Desai

FMRI and MEG Compatible Hand Motion Sensor

Lingyu Lyu, Elena Monfort-Sanchez, Mark Runciman, George Mylonas and James Avery

Envisioning Robotic Exoscope: Concept and Preliminary Results

Alice Valeria Iordache, Alessandro Casella, Elisa Iovene, Junling Fu, Federico Pessina, Marco Riva, Giancarlo Ferrigno, Leonardo Mattos and Elena De Momi

Design, Fabrication, and Evaluation of a Biomimetic Soft Peristaltic Pump for Biomedical Applications

Sina Najjari, Peter Culmer and Ali Alazmani

Optimizing Continuum Robot Tendon Routing for Minimally Invasive Brain Surgery

Margaret Rox, Aidan Copinga, Robert Naftel, Robert Webster and Alan Kuntz

Shape Sensing for a Soft Continuum Manipulator Using Electrical Impedance Tomography (EIT)

Amirhosein Alian, Emilia Zari, James Avery, Enrico Franco, Mark Runciman, Ferdinando Rodriguez Y Baena and George Mylonas

Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

Alistair Weld, Michael Dyck, Julian Klodmann, Giulio Anichini, Luke Dixon, Sophie Camp, Alin Albu-Schäffer and Stamatia Giannarou

A Modular ROS-Based dVRK Teleoperation Controller Architecture

Radian Gondokaryono, Mustafa Haiderbhai, Adnan Munawar, Thomas Looi, James Drake and Lueder Kahrs

Distal Joint Rotation Mechanism for Endoscopic Robot Manipulation

Lap Wing Cheung, Ka Chun Lau, Flora Leung, Donald Ngo Fung Ip, Henry Chow, Philip Wai Yan Chiu and Yeung Yam

Design of a Robotic Traction Device for Endoscopic Submucosal Dissection

Flora Fung Leung, Chun Ping Lam, Lap Wing Cheung, Donald Ngo Fung Ip, Yeung Yam, Philip Wai Yan Chiu and Ka Chun Lau

Understanding Different Inflated Balloon Catheter Behaviours via Computational Modelling

Junke Yao, Giorgia Bosi, Gaetano Burriesci and Helge Wurdemann

Towards Autonomous Robotic Ultrasound Scanning Using Pneumatically Attachable Flexible Rails

Aoife McDonald-Bowyer, Solene Dietsch, Emmanouil Dimitrakakis, Joanna Coote, Lukas Lindenroth, Danail Stoyanov and Agostino Stilli

Answering the FDA’S Call to Action: Using Steerable Sheaths and Mirrors to Prevent ERCP Infections

Joshua Gafford, Scott Webster, Patrick Anderson, Stanley Herrell, Keith Obstein, Daniel Rucker and Robert Webster III

Vision-Based Robot Localisation for Ductoscopic Navigation

Rema Daher, Connah Kendrick, Moi Hoon Yap, Daniel Leff and Stamatia Giannarou

Development and Control of a Robotic Simulator for Peristaltic Motion

Jarrett Ten, Quentin Lahondes, Shuhei Miyashita and Dana Damian

Mechanical Reinforcement Towards Fully Soft Magnetic Endoscopic Endonasal Surgical Manipulators

Zaneta Koszowska, Giovanni Pittiglio, Michael Brockdorff, James Chandler and Pietro Valdastri

In Vitro Navigation of a Magnetic Sphere Using a Model Predictive Controller for Neurovascular Targeted Drug Delivery Applications

Derick Sivakumaran, Fabian Christopher Landers, Quentin Boehler, Christophe Chautems, Salvador Pané and Bradley J. Nelson

A Novel, Research-Orientated Organ Perfusion Platform

Morenike Magbagbeola, Katie Doyle, Zainab Rai, Lukas Lindenroth, George Dwyer, Agostino Stilli, Brian Davidson and Danail Stoyanov

A Navigation Console to Steer Magnetic Instruments Under Radiological Guidance for Neuro-Vascular Interventions

Roland Dreyfus, Quentin Boehler, Christophe Chautems and Bradley Nelson

Deep Learning-Based Plane Pose Regression Towards Training in Freehand Obstetric Ultrasound

Chiara Di Vece, Brian Dromey, Francisco Vasconcelos, Anna L David, Donald M Peebles and Danail Stoyanov

Dual-Arm Platform for Control of Magnetically Actuated Soft Robots

Michael Brockdorff, Giovanni Pittiglio, Tomas da Veiga, James Chandler and Pietro Valdastri

Magnetic Endoluminal Devices Can Assist in Their Own Insertion

Nicholas Posselli, Emma Pinegar and Jake Abbott

Head-Mounting Surgical Robots for Passive Motion Compensation

Nicholas Posselli, Paul Bernstein and Jake Abbott

A Sensorized Needle-Insertion Device for Characterizing Percutaneous Thoracic Tool-Tissue Interactions

Rachael L'Orsa, Kourosh Zareinia, David Westwick, Garnette Sutherland and Katherine Kuchenbecker

Reinforcement Learning for Path Generation for Surgical Robot Maneuver

Junhong Chen, Zeyu Wang, Ruiqi Zhu, Ruiyang Zhang, Weibang Bai and Benny Lo

Multi Jet Fusion of Nylon-12: a Viable Method to 3D-Print Concentric Tube Robots?

Kalani Picho, Brandon Persons, Jesse d'Almeida, Nicholas Pacheco, Colin Reynolds and Loris Fichera

Development of a Wearable Fluorescence Sensor for Non-Invasive Monitoring of Gut Permeability

Elena Monfort-Sanchez, James Avery, Alex J. Thompson and Ara Darzi

Multifunctional Hybrid Module for Manipulators

Canberk Sozer, Sujit Kumar Sahu, Linda Paterno and Arianna Menciassi

Augmented Reality for Seamless Human Robot Interaction in Surgery

Hisham Iqbal and Ferdinando Rodriguez Y Baena

Toward Targeted Therapy in the Brain by Leveraging Screw-Tip Soft Magnetically Steerable Needles

Trevor J Schwehr, Adam J Sperry, John D Rolston, Matthew D Alexander, Jake J Abbott and Alan Kuntz

Signature Robot: a Miniature Robot for Orthopaedic Surgery

Spyridon Souipas, Stephen Laws, Ferdinando Rodriguez Y Baena and Brian Davies

An MRI Compatible MR-Guided High-Intensity Focused Ultrasound Neonatal Neurosurgery Platform for Intraventricular Hemorrhage

Hrishikesh Raghuram, Benjamin Keunen, Nathan Soucier, Thomas Looi, Samuel Pichardo, Adam Waspe and James Drake

Preliminary Findings of a Multimodal Sensor System for Measuring Surgeon Cognitive Workload

Ravi Naik, Kaizhe Jin, Alexandros Kogkas, Hutan Ashrafian, Ara Darzi and George Mylonas

Generalization for Deep Reinforcement Learning for Inverse Kinematics of Concentric Tube Robots

Keshav Iyengar, Sarah Spurgeon and Danail Stoyanov

Neurosurgical Robotics: Pushing the Boundaries with a Single Platform for the Sacrum to the Cranium

Brendan F. Judy, A. Daniel Davidar, Andrew Hersh, Carly Weber-Levine, Amanda N. Sacino, Brian Y. Hwang, Tej D. Azad, Ann Liu, Joshua Materi, Tara Dedrickson, William S. Anderson and Nicholas Theodore

Studying the Usability of Forbidden Region Virtual Fixtures for Safer Robotic Assisted Minimally Invasive Surgery

Martina Favaretto, Aldo Marzullo and Elena De Momi

Nonlinear Trajectory Following Control for a Bio-Inspired Steerable Needle

Zejian Cui, Abdulhamit Donder and Ferdinando Rodriguez Y Baena

A Haptic Feedback Glove for Minimally Invasive Surgery

Arincheyan Gerald, Rukaiya Batliwala, Jonathan Ye, Patra Hsu, Hiroyuki Aihara and Sheila Russo

Modeling Telescoping Tendon-Actuated Continuum Robots

Yash Chitalia, Abdulhamit Donder and Pierre Dupont

Bimanual Endoscopic Robot for Neurosurgery

Karl Price, Joseph Peine, Yash Chitalia, Margherita Mencattelli, Ashkan Pourkand, Thomas Looi, James Drake and Pierre Dupont

EndoVine: Soft Robotic Endoscope for Colonoscopy

Ameya Pore, Nicola Piccinelli, Giacomo De Rossi, Matteo Piano, Daniele Meli, Diego Dall'Alba, Riccardo Muradore and Paolo Fiorini

Human Machine Interfaces for Robot-Assisted Colonoscopy: a Clinical Survey

Martina Finocchiaro, Alberto Arezzo, Arianna Menciassi, Alicia Casals, Albert Hernansanz and Gastone Ciuti

A Simple and Powerful Instrument for Robotic Flexible Endoscopy

Giuliano A. Giacoppo, Ada L. Bachmann and Peter P. Pott

Design, Realization and Preliminary Validation of an Active Physical Simulator for the Study of Pelvic Floor Damages During Childbirth

Giulia Modarelli, Sabina Maglio, Selene Tognarelli and Arianna Menciassi

Robotic System with Intuitive Control for Endoscopic Bone Cyst Surgery

Subin Lee, Seunguk Kim, Rene Marcel Solzbacher, Hyunwook Kim, Sanghyun Joung and Jaesung Hong

Results of in Vivo Cardiac Arrhythmia Ablations with an Electro-Magnetic Navigation System

Christophe Chautems, Nikola Cesarovic, Peter Bode, Bradley Nelson and Firat Duru

Automatic Vessel Recognition and Segmentation: a Novel Deep Learning Architecture with Transfer Learning Approach

Giovanni Faoro, Stefano Pane, Veronica Iacovacci, Sara Moccia and Arianna Menciassi

A Mixed Reality System for Human Teleoperation in Tele-Ultrasound

David Black and Septimiu Salcudean

A Temporal Learning Approach to Inpainting Endoscopic Specularities and Its Effect on Image Correspondence

Rema Daher, Francisco Vasconcelos and Danail Stoyanov

Cable-Driven Linear Haptic Display for Medical Interventions

Max B. Schäfer, Julia Nawratil, Moritz Hemmer, Sophie Weiland and Peter P. Pott

Robotic Telemanipulation System for Minimally Invasive Surgery Using a Passive Universal Joint and Inertial Sensors

Max B. Schäfer, Moritz Hemmer, Anja M. Glöckner and Peter P. Pott

Minimum-Parameter Adaptive Propulsion Matrix of Screw-Type Magnetic Capsule Endoscopes

Adam J Sperry and Jake J Abbott

Dense 3D Reconstruction Through Lidar: a New Perspective on Computer-Integrated Surgery

Guido Caccianiga and Katherine J. Kuchenbecker

ISurgeon: Augmented Reality Telestration for Improved Surgical Training

Thomas Fuchs, Eleni Felinska, Alexandros Kogkas, George Mylonas, Beat Müller-Stich and Felix Nickel

Towards a Procedure Optimised Steerable Microcatheter for Neurosurgical Laser Ablation

Ayhan Aktas, Ali Anil Demircali, Riccardo Secoli, Burak Temelkuran and Ferdinando M Rodriguez Y Baena