ORCID Profile
0000-0002-4554-7638
Current Organisation
UNSW Sydney
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Composite and Hybrid Materials | Functional Materials | Materials Engineering
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2017
Publisher: IEEE
Date: 08-2015
Publisher: ACTA Press
Date: 2018
Publisher: American Chemical Society (ACS)
Date: 27-05-2019
Abstract: The distributed sense of touch forms an essential component that defines real-time perception and situational awareness in humans. Electronic skins are an emerging technology in conferring an artificial sense of touch for smart human-machine interfaces. However, assigning a conformably distributed sense of touch over a large area has been challenging to replicate in modern medical, social, and industrial robots. Herein, we present a new class of soft tactile sensors that exploit the mechanisms of triplet-triplet annihilation, exciton harvesting, and a small Stokes shift in conjugated organic semiconductors such as rubrene. By multiplexing the electroluminescence and photosensing modes, we show that a compact optoelectronic array of multifunctional rubrene/fullerene diodes can accurately measure pressure, position, and surface deformation applied to an overlying elastomeric layer. The dynamic range of sensing is defined by mechanical properties of the elastomer. Such optoelectronic approach paves the way for soft, conformal, and large-area compatible electronic skins for medicine and robotics.
Publisher: IEEE
Date: 12-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2017
Publisher: Trans Tech Publications, Ltd.
Date: 05-2013
DOI: 10.4028/WWW.SCIENTIFIC.NET/AMR.694-697.1656
Abstract: Obstacle avoidance is an important content in the research of redundant manipulator. To automate spraying for inner surface in a complex curved pipe, its a challenge to plan collision-free trajectory for the manipulator. A hybrid planning algorithm based on genetic algorithm and pseudo-inverse method is presented in this paper. Firstly, the collision problem between the manipulator and curved pipe is simplified to collision detection problem between polyhedron. The manipulator joints are represented by bounding volumes, and the curved pipe is deemed to polyhedron. Secondly, in the hybrid genetic algorithm, the initial population is obtained by using the pseudo-inverse method, by establishing the distance relationship between the vertices of the bounding volume and its cross-sectional plane polygon. The fitness function is constructed to evaluate the collision situation between the manipulator and pipe. Via the continuous evolution of the population, the collision-free trajectory is obtained finally.
Publisher: Elsevier BV
Date: 05-2019
DOI: 10.1016/J.MEDIA.2019.01.002
Abstract: In the past decade, medical robotics has gained significant traction within the surgical field. While the introduction of fully autonomous robotic systems for surgical procedures still remains a challenge, robotic assisted interventions have become increasingly more interesting for the scientific and clinical community. This happens especially when difficulties associated with complex surgical manoeuvres under reduced field of view are involved, as encountered in minimally invasive surgeries. Various imaging modalities can be used to support these procedures, by re-creating a virtual, enhanced view of the intervention site. Among them, ultrasound imaging showed several advantages, such as cost effectiveness, non-invasiveness and real-time volumetric imaging. In this review we comprehensively report about the interventional applications where ultrasound imaging has been used to provide guidance for the intervention tools, allowing the surgeon to visualize intra-operatively the soft tissue configuration in real-time and to compensate for possible anatomical changes. Future directions are also discussed, in particular how the recent developments in 3D/4D ultrasound imaging and the introduction of advanced imaging capabilities (such as elastography) in commercially available systems may fulfil the unmet needs towards fully autonomous robotic interventions.
Publisher: IEEE
Date: 09-2015
Publisher: IEEE
Date: 27-09-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2016
Publisher: Elsevier
Date: 2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2020
Publisher: IEEE
Date: 27-09-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2022
Publisher: Springer Science and Business Media LLC
Date: 18-05-2016
DOI: 10.1007/S11517-016-1514-9
Abstract: Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.
Publisher: IEEE
Date: 09-2014
Publisher: IEEE
Date: 12-2017
Publisher: SPIE
Date: 13-05-2010
DOI: 10.1117/12.867578
Publisher: MDPI AG
Date: 22-12-2022
Abstract: Stiffness-adjustable snake-like robots have been proposed for various applications, including minimally invasive surgery. Based on a variable neutral-line mechanism, previous works proposed a class of snake-like robots that can adjust their stiffness by changing the driving cables’ tensions. A constant curvature hypothesis was used to formulate such robots’ kinematics and was further verified by our previous work via rigorous force analysis and ADAMS simulations. However, all these models and analyses have ignored the effect of the robot links’ gravity, resulting in significant errors in real systems. In this paper, a static model considering gravity compensation is proposed for the stiffness-adjustable snake-like robots. The proposed model adopts a nonlinear Gauss–Seidel iteration scheme and consists of two parts: gravity update and pose estimation. In each iteration, the former updates the payload of each link caused by gravity, and the latter estimates the pose of the robot by refreshing the angle and position values. This iteration stops when the change in the tip position is less than a pre-set error ϵ. During the above process, the only dependent information is each cable’s tension. Simulations and experiments are carried out to verify the effectiveness of the proposed model. The impact of gravity is found to increase with growing material densities in the simulations. The experimental results further indicate that compared with a model without gravity compensation, our model reduces the tip estimation error by 91.5% on average.
Publisher: Elsevier BV
Date: 09-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2019
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2017
Publisher: Elsevier BV
Date: 06-2014
Publisher: IEEE
Date: 12-2014
Publisher: IEEE
Date: 07-2017
Publisher: SAGE Publications
Date: 2017
Abstract: To determine the perceptions of surgeons at both consultant and resident level to the difficulties of performing knee arthroscopy and to determine their willingness to adopt robotic technology. A questionnaire was designed to discern the attitude of orthopaedic consultants and residents to the technical challenges of performing knee arthroscopy and the possible role of robotically enhanced surgery. The questionnaire included 31 questions across five key domains. Iatrogenic damage to articular cartilage was thought to occur in at least 1 in 10 cases by 50% of respondents with 15% believing that it occurred in every case. One hundred or more procedures were thought to be necessary to overcome the learning curve by 40% of respondents and 77.5% believed that 50 procedures or above were necessary. Ninety-nine per cent of respondents agreed that higher technical skills would decrease unintended damage. Despite such difficulties with the procedure and no prior experience with robotic surgery, 47% of respondents see a role for semiautonomous arthroscopic systems in the future. Surgeons believe that knee arthroscopy is a difficult procedure with a long learning curve and a high incidence of iatrogenic cartilage damage. Many find it ergonomically challenging and have frustration with current tools and technology. This is the first study that highlights surgeons’ difficulties performing knee arthroscopy despite the commonly held attitudes that it is a straightforward procedure. Systems that are able to decrease these problems should improve patients’ outcomes and decrease the risk of harm.
Publisher: IEEE
Date: 05-2017
Publisher: IEEE
Date: 08-2013
Publisher: Elsevier BV
Date: 2017
Publisher: IEEE
Date: 05-2020
Publisher: Elsevier
Date: 2020
Publisher: IEEE
Date: 11-2017
Publisher: IEEE
Date: 12-2017
Publisher: IEEE
Date: 05-2019
Publisher: IEEE
Date: 10-2016
Publisher: Association for Computing Machinery (ACM)
Date: 28-09-2021
DOI: 10.1145/3476466
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2019
Publisher: IEEE
Date: 11-2019
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Start Date: 2021
End Date: 12-2023
Amount: $381,238.00
Funder: Australian Research Council
View Funded Activity