Now showing items 1-11 of 11

    • 3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair 

      Yuen, Shelten G.; Kesner, Samuel Benjamin; Vasilyev, Nikolay; Del Nido, Pedro J.; Howe, Robert D. (Springer Verlag, 2008)
      Beating heart intracardiac procedures promise significant benefits for patients, however, the fast motion of the heart poses serious challenges to surgeons. We present a new 3D ultrasound-guided motion (3DUS) compensation ...
    • Design and Control of Motion Compensation Cardiac Catheters 

      Kesner, Samuel Benjamin; Howe, Robert D. (Institute of Electrical and Electronics Engineers, 2010)
      Robotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, catheter technologies are currently unable to ...
    • Design considerations for an active soft orthotic system for shoulder rehabilitation 

      Kesner, Samuel Benjamin; Jentoft, Leif Patrick; Hammond, Frank; Howe, Robert D.; Popovic, Marko (IEEE, 2011)
      Strokes affect over 750,000 people annually in the United States. This significant and disabling condition can result in paralysis that must be treated by regular sessions with a dedicated physical therapist in order to ...
    • Design of a Motion Compensated Tissue Resection Catheter for Beating Heart Cardiac Surgery 

      Kesner, Samuel Benjamin; Howe, Robert D. (ASME International, 2011)
      Cardiac catheters allow clinicians to minimally invasively interact with the beating heart without stopping the heart or opening the chest. However, the fast motion of the intracardiac structures makes it difficult to ...
    • Design Principles for Rapid Prototyping Forces Sensors Using 3-D Printing 

      Kesner, Samuel; Howe, Robert D. (Institute of Electrical and Electronics Engineers (IEEE), 2011)
      Force sensors provide critical information about robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting ...
    • Discriminating tissue stiffness with a haptic catheter: Feeling the inside of the beating heart 

      Kesner, Samuel Benjamin; Howe, Robert D. (Institute of Electrical and Electronics Engineers, 2011)
      Catheter devices allow physicians to access the inside of the human body easily and painlessly through natural orifices and vessels. Although catheters allow for the delivery of fluids and drugs, the deployment of devices, ...
    • Force control of flexible catheter robots for beating heart surgery 

      Kesner, Samuel Benjamin; Howe, Robert D. (Institute of Electrical and Electronics Engineers, 2011)
      Recent developments in cardiac catheter technology promise to allow physicians to perform most cardiac interventions without stopping the heart or opening the chest. However, current cardiac devices, including newly developed ...
    • Position Control of Motion Compensation Cardiac Catheters 

      Kesner, Samuel; Howe, Robert D. (Institute of Electrical & Electronics Engineers (IEEE), 2011)
      Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the ...
    • Robotic catheter cardiac ablation combining ultrasound guidance and force control 

      Kesner, Samuel Benjamin; Howe, Robert D. (SAGE Publications, 2014)
      Cardiac catheters allow physicians to access the inside of the heart and perform therapeutic interventions without stopping the heart or opening the chest. However, conventional manual and actuated cardiac catheters are ...
    • Robotic Catheters for Beating Heart Surgery 

      Kesner, Samuel Benjamin (2012-12-12)
      Compliant and flexible cardiac catheters provide direct access to the inside of the heart via the vascular system without requiring clinicians to stop the heart or open the chest. However, the fast motion of the intracardiac ...
    • Ultrasound Servoing of Catheters for Beating Heart Valve Repair 

      Kesner, Samuel Benjamin; Yuen, Shelten G.; Howe, Robert D. (Springer Verlag, 2010)
      Robotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, catheter technologies are currently unable to ...