Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm...

On the fluidization of cohesive powders: Differences and similarities between micro- and nano-sized particle gas–solid fluidization

The fluidization of cohesive powders has been extensively researched over the years. When looking at literature on the fluidization of cohesive particles, one will often find papers concerned with only micro- or only nano-sized powders. It is, however, unclear whether they should be treated differently at all. In this paper, we look at...

Contact Localization of Continuum and Flexible Robot Using Data-driven Approach

Continuum robots such as robotic catheters are increasingly being used in minimally invasive surgery. Compliance contributes to enhanced safety during e.g. catheter insertion, however, estimation of contact force and location may help clinicians avoiding exerting excessive force. Ultimately this could lead to faster and safer interventions....

The Vector Form Intrinsic Finite Element method and several other form-finding methods for general networks

Discrete networks is a kind of form-active structural system which actively change its shape under varying load conditions. And for this kind of structural system, form-finding is the initial and essential part in their design process. Before the computer age, people complete the form-finding process using physical models, while with the...

Deposition and atomic force microscopy of individual phthalocyanine polymers between nanofabricated electrodes

Electrical transport in monolayers of phthalocyanine molecular wires and AFM imaging of a single wire bridging two electrodes