IEEE Transactions on Biomedical Engineering

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Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy
Robot assistance is revolutionizing minimally invasive surgical (MIS) techniques. As robot assistance becomes standard in areas such as urology and general surgery, it remains largely absent in neurosurgery. The primary reason is a lack of dexterous wristed tools that are small and compact enough to maneuver within the confines of the brain. In this study, we present a wireless magnetic power transmission that enables the design of unconventional tiny wristed robot tools. By deploying the tools endoscopically within a silicone brain model, we demonstrate the feasibility of these novel devices for future neuroendoscopic robots... Read more
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Autonomous Robot for Removing Superficial Traumatic Blood
Objective: To remove blood from an incision and find the incision spot is a key task during surgery, or else over discharge of blood will endanger a patient’s life. However, the repetitive manual blood removal involves plenty of workload contributing... Read more
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Walking Faster and Farther With a Soft Robotic Exosuit: Implications for Post-Stroke Gait Assistance and Rehabilitation
Objective: Soft robotic exosuits can improve the mechanics and energetics of walking after stroke. Building on this prior work, we evaluated the effects of the first prototype of a portable soft robotic exosuit. Methods: Exosuit-induced changes in the overground walking... Read more
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Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty
Deep anterior lamellar keratoplasty (DALK) is a promising form of partial-thickness cornea transplantation, but its popular “big bubble” technique frequently fails due to difficulty controlling a needle insertion into the cornea. We addressed the surgeon challenges that reduce success rates by demonstrating an optical coherence tomography (OCT)-guided, robotically stabilized workstation for manually or automatically performing DALK needle insertions. In a study with cornea fellows, we found that OCT visualization versus the standard stereo microscope was a key enabler in manual attempts and that our automatic robotic method met or exceeded the performance of cornea fellows... Read more
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Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-based Active Interventional Control Framework
Retinal surgery is an excellent example of a high-demand dexterity procedure that may benefit from robotic systems. However, due to an incomplete understanding of a surgeon’s imminent intentional manipulations, the assistance provided to the surgeons by current robotic frameworks is... Read more
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A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD
Intraluminal surgery is a very attracting technique for surgical procedures in the digestive tract because they limit trauma, avoid any visible scar for the patient and allow direct access to pathology. However, these are very demanding techniques for surgeons when... Read more
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IMU-Based Wrist Rotation Control of a Transradial Myoelectric Prosthesis
  This paper describes a control method intended to facilitate improved control of a myoelectric prosthesis containing a wrist rotator. Rather than exclusively utilize electromyogram (EMG) for the control of all myoelectric components (e.g., a hand and a wrist), the proposed... Read more
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System Integration and In Vivo Testing of a Robot for Ultrasound Guidance and Monitoring During Radiotherapy
Image-guided radiation therapy (IGRT) involves two main steps: (1) planning/simulation using computerized tomography (CT) imaging and (2) fractionated treatment delivery using a linear accelerator (LINAC). These are performed on different days and in different rooms; thus it is necessary to... Read more
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Building large mosaics of confocal endomicroscopic images using visual servoing
Rosa, B.; Erden, M.S.; Vercauteren, T.; Herman, B.; Szewczyk, J.; Morel, G. Volume: 60,  Issue: 4, Page: 1041 – 1049 This paper presents an endomicroscopy-based visual servoing control scheme in order to perform very large field of view optical biopsies on soft tissues. Probe-based Confocal Laser Endomicroscopy (pCLE) is a recent... Read more