Iulian Iordachita

I. Iordachita is with the Department of Mechanical Engineering, Johns Hopkins University.

Associated articles

TBME, Featured Articles
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
TBME, Featured Articles
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
TBME, Featured Articles
Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study
This work aims to evaluate two variants of an adaptive force control scheme to mitigate the risk of unsafe scleral forces during robot-assisted eye surgery procedures. The robot and its dependencies were set up in an operating room, where we enrolled ten retina fellows and ophthalmology residents into a simulated procedure. The participants were asked to follow phantom retinal vessels using a custom force-sensing instrument, with and without robotic assistance. We demonstrate that the control methods can make the robot autonomously maintain the scleral forces at predetermined safe levels better than freehand manipulations, while the surgeon performs the surgical tasks... Read more
TBME, Featured Articles
Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-vivo Study
Retinal vein cannulation is a technically demanding surgical procedure and its feasibility relies on using advanced surgical robots equipped with force-sensing microneedles, and reliable detection of the moment of venous puncture. This paper reports the first in-vivo retinal vein cannulation trial on rabbit eyes, using sensorized metal needles, and investigates puncture detection. We utilized total of four indices including two previously demonstrated and two new ones and improved the detection rate from 75% to 92%. The study provides promising results and the criteria developed may serve as guidelines for further investigation into puncture detection in in-vivo retinal vein cannulation... Read more