Advanced Robotics Technologies for Surgery Lab at UT Austin
Updated: Jan 2, 2022
Minimal invasive surgery is getting prominence in surgical robotics sector. These kind of surgeries require high level precision and micro manipulators to dexterously navigate through paths inside the body. Advanced surgical robots require both dexterity and autonomy for operation.
The ARTS Lab at University of Texas at Austin, is working on pathbreaking technologies in advanced surgical robotics with two focus areas:
Development of Minimally Invasive Surgical Robotic Systems utilizing Dexterous Continuum manipulators and Instruments
Continuum manipulators are key components for minimally invasive surgery due to their flexibility and remote-operability. Following publications from the lab deal with this subject.
Uksang Yoo, Yang Liu, Ashish D. Deshpande, and Farshid Alambeigi, “Analytical Design of a Pneumatic Elastomer Robot with Deterministically Adjusted Stiffness”. IEEE Robotics and Automation Letters (RAL) (2021).
Yang Liu and Farshid Alambeigi, “Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators”. IEEE Robotics and Automation Letters (RAL) (2021).
A. Ebrahimi, F. Alambeigi, S. Sefati, N. Patel, C. He, P. Gehlbach, and I. Iordachita, “Stochastic Force-based Insertion Depth and Tip Position Estimations of Flexible FBG-Equipped Instruments in Robotic Retinal Surgery,” IEEE Transaction on Mechatronics (TMECH), September 2020.
S. Sefati, R. Hegeman, F. Alambeigi, I. Iordachita, P. Kazanzides, H. Khanuja, R. Taylor, and M. Armand, “A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments,” IEEE Transaction on Mechatronics (TMECH), August 2020.
Yang Liu, Seong Hyo Ahn, Uksang Yoo, Alexander R. Cohen, and Farshid Alambeigi “Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators”. IEEE/RSJInternational Conference on Intelligent Robots and Systems (IROS) (2020)
2. Surgical Autonomy
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