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Peripheral intravenous catheterization (PIVC) is frequently required for various medical treatments. Over 1 billion PIVC operations are performed per year in the United States alone. However, this operation is characterized by a very low success rate, especially amongst pediatric patients. Statistics show that only 53% of first PIVC attempts are successful in pediatric patients. Since their veins...
Vascular access is frequently required for patients admitted to hospitals. This requires a delicate process of intravenous (IV) catheterization that, as opposed to common believe, suffers from a high failure rate typically close to 30%. In case of special patients such as infants, the elderly, and people with diabetes or other health conditions that affect blood vessels, the challenge to achieve intravenous...
Robot-assisted needle-based surgeries are sought to improve many operations, from brain surgery to spine and urological procedures. Force feedback from a needle can provide important guidance during needle insertion. This paper presents a new modelling method of needle force during insertion into soft tissue based on finite element simulation. This is achieved by analysing the results of a series...
Gravity balancing has great significance in many rehabilitation applications and one example is in minimizing the resistance of lifting a patient's upper limb due to its own weight. As compared to commonly used active method in exoskeleton, passive weight compensation offers many other advantages such as elimination of motors which reduces the overall load acting on the patient. However, the torque...
Compliant mechanisms have been widely used in various mechatronics and robotics applications as they offer several significant advantages like repeatability and non-existence of backlash. The designs of these compliant mechanisms are often based on experience and intuition, and can be a frustrating experience during the design phase. Hence, this paper proposes an algorithm that aids users in designing...
In this paper, we attempt to develop a reusable framework of cooperative perception for vehicle control on the road that can extend perception range beyond line-of-sight and beyond field-of-view. For this goal, the following problems are addressed: map merging, vehicle identification, sensor multi-modality, impact of communications, and impact on path planning. We provide experimental results using...
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