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Toward the Development of a Hand-Held Surgical Robot for Laparoscopy

Related publications (51)

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Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Xiao Gao, Farshad Khadivar

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

ELSEVIER2023

Measurement of the 171Tm beta spectrum

Lesya Shchutska, Alexey Boyarsky

The beta spectrum of the main transition of the 171Tm was measured using a double focalizing spectrometer. The instrument was lately improved in order to reduce its low energy threshold to 34 keV. We used the spectrometer to measure the energy end-point of ...

2023

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

Dario Floreano, Yegor Piskarev, Jun Shintake

A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first ...

2023

Politique de l'Environnement

Philippe Thalmann

Ce chapitre passe en revue les instruments de la politique environnementale: types d'instruments et qualités de ces instruments (effectivité, efficacité, équité, faisabilité). Nombreux exemples tirés de la politique climatique suisse. ...

Editions Slatkine2022

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Yufei Hao

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

FRONTIERS MEDIA SA2021

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Optimization of MEW instrument components and their assembly

Jianan Mao

In recent years, a new additive manufacturing technology Melt Electrowriting (MEW) has become attractive, especially for biomedical applications, and it has potential in many other fields as well. In order to carry out an in-depth study of melt electrowrit ...

2021

Towards a more affordable analysis of air pollution

Sandrine Perroud

Satoshi Takahama and Nikunj Dudani, two scientists at EPFL’s Laboratory of Atmospheric Processes and their Impacts (LAPI), have developed an innovative system that could replace the array of instruments typically used to measure air quality by a single dev ...

2021

This thesis develops novel multi-degrees-of-freedom flexure-based force sensors by exploiting white light interferometry. Fabry-Pérot interferometry measurement has nanometric accuracy which yields sub milli-Newton force sensing accuracy. Such force sensin ...

EPFL2020